| 0,0 → 1,10192 |
|---|
| 1 .file "fc.c" |
| 2 .arch atmega644p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global VarioCharacter |
| 11 .data |
| 14 VarioCharacter: |
| 15 0000 20 .byte 32 |
| 16 .global GIER_GRAD_FAKTOR |
| 19 GIER_GRAD_FAKTOR: |
| 20 0001 0B05 0000 .long 1291 |
| 21 .global FCFlags |
| 22 .global FCFlags |
| 23 .section .bss |
| 26 FCFlags: |
| 27 0000 00 .skip 1,0 |
| 28 .global modell_fliegt |
| 29 .global modell_fliegt |
| 32 modell_fliegt: |
| 33 0001 0000 .skip 2,0 |
| 34 .global MaxStickRoll |
| 35 .global MaxStickRoll |
| 38 MaxStickRoll: |
| 39 0003 0000 .skip 2,0 |
| 40 .global MaxStickNick |
| 41 .global MaxStickNick |
| 44 MaxStickNick: |
| 45 0005 0000 .skip 2,0 |
| 46 .global ExternHoehenValue |
| 47 .data |
| 50 ExternHoehenValue: |
| 51 0005 ECFF .word -20 |
| 52 .global ExternStickGier |
| 53 .global ExternStickGier |
| 54 .section .bss |
| 57 ExternStickGier: |
| 58 0007 0000 .skip 2,0 |
| 59 .global ExternStickRoll |
| 60 .global ExternStickRoll |
| 63 ExternStickRoll: |
| 64 0009 0000 .skip 2,0 |
| 65 .global ExternStickNick |
| 66 .global ExternStickNick |
| 69 ExternStickNick: |
| 70 000b 0000 .skip 2,0 |
| 71 .global CareFree |
| 72 .global CareFree |
| 75 CareFree: |
| 76 000d 00 .skip 1,0 |
| 77 .global Parameter_DynamicStability |
| 78 .data |
| 81 Parameter_DynamicStability: |
| 82 0007 64 .byte 100 |
| 83 .global Parameter_CouplingYawCorrection |
| 86 Parameter_CouplingYawCorrection: |
| 87 0008 40 .byte 64 |
| 88 .global Parameter_AchsKopplung2 |
| 91 Parameter_AchsKopplung2: |
| 92 0009 41 .byte 65 |
| 93 .global Parameter_AchsKopplung1 |
| 96 Parameter_AchsKopplung1: |
| 97 000a 5A .byte 90 |
| 98 .global Parameter_LoopGasLimit |
| 101 Parameter_LoopGasLimit: |
| 102 000b 46 .byte 70 |
| 103 .global Parameter_ServoRollControl |
| 106 Parameter_ServoRollControl: |
| 107 000c 64 .byte 100 |
| 108 .global Parameter_ServoNickControl |
| 111 Parameter_ServoNickControl: |
| 112 000d 64 .byte 100 |
| 113 .global Parameter_UserParam8 |
| 114 .global Parameter_UserParam8 |
| 115 .section .bss |
| 118 Parameter_UserParam8: |
| 119 000e 00 .skip 1,0 |
| 120 .global Parameter_UserParam7 |
| 121 .global Parameter_UserParam7 |
| 124 Parameter_UserParam7: |
| 125 000f 00 .skip 1,0 |
| 126 .global Parameter_UserParam6 |
| 127 .global Parameter_UserParam6 |
| 130 Parameter_UserParam6: |
| 131 0010 00 .skip 1,0 |
| 132 .global Parameter_UserParam5 |
| 133 .global Parameter_UserParam5 |
| 136 Parameter_UserParam5: |
| 137 0011 00 .skip 1,0 |
| 138 .global Parameter_UserParam4 |
| 139 .global Parameter_UserParam4 |
| 142 Parameter_UserParam4: |
| 143 0012 00 .skip 1,0 |
| 144 .global Parameter_UserParam3 |
| 145 .global Parameter_UserParam3 |
| 148 Parameter_UserParam3: |
| 149 0013 00 .skip 1,0 |
| 150 .global Parameter_UserParam2 |
| 151 .global Parameter_UserParam2 |
| 154 Parameter_UserParam2: |
| 155 0014 00 .skip 1,0 |
| 156 .global Parameter_UserParam1 |
| 157 .global Parameter_UserParam1 |
| 160 Parameter_UserParam1: |
| 161 0015 00 .skip 1,0 |
| 162 .global Parameter_I_Faktor |
| 163 .data |
| 166 Parameter_I_Faktor: |
| 167 000e 0A .byte 10 |
| 168 .global Parameter_Gier_P |
| 171 Parameter_Gier_P: |
| 172 000f 02 .byte 2 |
| 173 .global Parameter_Gyro_Gier_I |
| 176 Parameter_Gyro_Gier_I: |
| 177 0010 96 .byte -106 |
| 178 .global Parameter_Gyro_Gier_P |
| 181 Parameter_Gyro_Gier_P: |
| 182 0011 96 .byte -106 |
| 183 .global Parameter_Gyro_I |
| 186 Parameter_Gyro_I: |
| 187 0012 96 .byte -106 |
| 188 .global Parameter_Gyro_P |
| 191 Parameter_Gyro_P: |
| 192 0013 96 .byte -106 |
| 193 .global Parameter_Gyro_D |
| 196 Parameter_Gyro_D: |
| 197 0014 08 .byte 8 |
| 198 .global Parameter_Hoehe_GPS_Z |
| 201 Parameter_Hoehe_GPS_Z: |
| 202 0015 40 .byte 64 |
| 203 .global Parameter_KompassWirkung |
| 206 Parameter_KompassWirkung: |
| 207 0016 40 .byte 64 |
| 208 .global Parameter_Hoehe_ACC_Wirkung |
| 211 Parameter_Hoehe_ACC_Wirkung: |
| 212 0017 3A .byte 58 |
| 213 .global Parameter_Hoehe_P |
| 216 Parameter_Hoehe_P: |
| 217 0018 10 .byte 16 |
| 218 .global Parameter_MaxHoehe |
| 221 Parameter_MaxHoehe: |
| 222 0019 FB .byte -5 |
| 223 .global Parameter_Luftdruck_D |
| 226 Parameter_Luftdruck_D: |
| 227 001a 30 .byte 48 |
| 228 .global Looping_Oben |
| 229 .global Looping_Oben |
| 230 .section .bss |
| 233 Looping_Oben: |
| 234 0016 00 .skip 1,0 |
| 235 .global Looping_Unten |
| 236 .global Looping_Unten |
| 239 Looping_Unten: |
| 240 0017 00 .skip 1,0 |
| 241 .global Looping_Rechts |
| 242 .global Looping_Rechts |
| 245 Looping_Rechts: |
| 246 0018 00 .skip 1,0 |
| 247 .global Looping_Links |
| 248 .global Looping_Links |
| 251 Looping_Links: |
| 252 0019 00 .skip 1,0 |
| 253 .global Looping_Roll |
| 254 .global Looping_Roll |
| 257 Looping_Roll: |
| 258 001a 00 .skip 1,0 |
| 259 .global Looping_Nick |
| 260 .global Looping_Nick |
| 263 Looping_Nick: |
| 264 001b 00 .skip 1,0 |
| 265 .global Ki |
| 266 .data |
| 269 Ki: |
| 270 001b 3801 .word 312 |
| 271 .global HoverGas |
| 272 .global HoverGas |
| 273 .section .bss |
| 276 HoverGas: |
| 277 001c 0000 .skip 2,0 |
| 278 .global LageKorrekturNick |
| 279 .global LageKorrekturNick |
| 282 LageKorrekturNick: |
| 283 001e 0000 .skip 2,0 |
| 284 .global LageKorrekturRoll |
| 285 .global LageKorrekturRoll |
| 288 LageKorrekturRoll: |
| 289 0020 0000 .skip 2,0 |
| 290 .global SollHoehe |
| 291 .global SollHoehe |
| 294 SollHoehe: |
| 295 0022 0000 0000 .skip 4,0 |
| 296 .global HoehenWert |
| 297 .global HoehenWert |
| 300 HoehenWert: |
| 301 0026 0000 0000 .skip 4,0 |
| 302 .global StartTrigger |
| 303 .global StartTrigger |
| 306 StartTrigger: |
| 307 002a 00 .skip 1,0 |
| 308 .global MotorenEin |
| 309 .global MotorenEin |
| 312 MotorenEin: |
| 313 002b 00 .skip 1,0 |
| 314 .global StickGas |
| 315 .global StickGas |
| 318 StickGas: |
| 319 002c 0000 .skip 2,0 |
| 320 .global StickGier |
| 321 .global StickGier |
| 324 StickGier: |
| 325 002e 0000 .skip 2,0 |
| 326 .global StickRoll |
| 327 .global StickRoll |
| 330 StickRoll: |
| 331 0030 0000 .skip 2,0 |
| 332 .global StickNick |
| 333 .global StickNick |
| 336 StickNick: |
| 337 0032 0000 .skip 2,0 |
| 338 .global SenderOkay |
| 339 .global SenderOkay |
| 342 SenderOkay: |
| 343 0034 00 .skip 1,0 |
| 344 .global Poti |
| 345 .global Poti |
| 348 Poti: |
| 349 0035 0000 0000 .skip 9,0 |
| 349 0000 0000 |
| 349 00 |
| 350 .global GierGyroFehler |
| 351 .global GierGyroFehler |
| 354 GierGyroFehler: |
| 355 003e 0000 .skip 2,0 |
| 356 .global Umschlag180Roll |
| 357 .data |
| 360 Umschlag180Roll: |
| 361 001d 90D0 0300 .long 250000 |
| 362 .global Umschlag180Nick |
| 365 Umschlag180Nick: |
| 366 0021 90D0 0300 .long 250000 |
| 367 .global TrichterFlug |
| 368 .global TrichterFlug |
| 369 .section .bss |
| 372 TrichterFlug: |
| 373 0040 00 .skip 1,0 |
| 374 .global HoehenReglerAktiv |
| 375 .global HoehenReglerAktiv |
| 378 HoehenReglerAktiv: |
| 379 0041 00 .skip 1,0 |
| 380 .global KompassSignalSchlecht |
| 381 .data |
| 384 KompassSignalSchlecht: |
| 385 0025 F401 .word 500 |
| 386 .global KompassRichtung |
| 387 .global KompassRichtung |
| 388 .section .bss |
| 391 KompassRichtung: |
| 392 0042 0000 .skip 2,0 |
| 393 .global KompassStartwert |
| 394 .global KompassStartwert |
| 397 KompassStartwert: |
| 398 0044 0000 .skip 2,0 |
| 399 .global KompassValue |
| 400 .global KompassValue |
| 403 KompassValue: |
| 404 0046 0000 .skip 2,0 |
| 405 .global Mess_Integral_Hoch |
| 406 .global Mess_Integral_Hoch |
| 409 Mess_Integral_Hoch: |
| 410 0048 0000 0000 .skip 4,0 |
| 411 .global SummeRoll |
| 412 .global SummeRoll |
| 415 SummeRoll: |
| 416 004c 0000 0000 .skip 4,0 |
| 417 .global SummeNick |
| 418 .global SummeNick |
| 421 SummeNick: |
| 422 0050 0000 0000 .skip 4,0 |
| 423 .global Mess_Integral_Gier2 |
| 424 .global Mess_Integral_Gier2 |
| 427 Mess_Integral_Gier2: |
| 428 0054 0000 0000 .skip 4,0 |
| 429 .global Mess_Integral_Gier |
| 430 .global Mess_Integral_Gier |
| 433 Mess_Integral_Gier: |
| 434 0058 0000 0000 .skip 4,0 |
| 435 .global Mess_IntegralRoll2 |
| 436 .global Mess_IntegralRoll2 |
| 439 Mess_IntegralRoll2: |
| 440 005c 0000 0000 .skip 4,0 |
| 441 .global Mess_IntegralRoll |
| 442 .global Mess_IntegralRoll |
| 445 Mess_IntegralRoll: |
| 446 0060 0000 0000 .skip 4,0 |
| 447 .global Mess_IntegralNick2 |
| 448 .global Mess_IntegralNick2 |
| 451 Mess_IntegralNick2: |
| 452 0064 0000 0000 .skip 4,0 |
| 453 .global Mess_IntegralNick |
| 454 .global Mess_IntegralNick |
| 457 Mess_IntegralNick: |
| 458 0068 0000 0000 .skip 4,0 |
| 459 .global Integral_Gier |
| 460 .global Integral_Gier |
| 463 Integral_Gier: |
| 464 006c 0000 0000 .skip 4,0 |
| 465 .global IntegralAccZ |
| 466 .global IntegralAccZ |
| 469 IntegralAccZ: |
| 470 0070 0000 0000 .skip 4,0 |
| 471 .global IntegralAccRoll |
| 472 .global IntegralAccRoll |
| 475 IntegralAccRoll: |
| 476 0074 0000 0000 .skip 4,0 |
| 477 .global IntegralAccNick |
| 478 .global IntegralAccNick |
| 481 IntegralAccNick: |
| 482 0078 0000 0000 .skip 4,0 |
| 483 .global IntegralRoll2 |
| 484 .global IntegralRoll2 |
| 487 IntegralRoll2: |
| 488 007c 0000 0000 .skip 4,0 |
| 489 .global IntegralRoll |
| 490 .global IntegralRoll |
| 493 IntegralRoll: |
| 494 0080 0000 0000 .skip 4,0 |
| 495 .global IntegralNick2 |
| 496 .global IntegralNick2 |
| 499 IntegralNick2: |
| 500 0084 0000 0000 .skip 4,0 |
| 501 .global IntegralNick |
| 502 .global IntegralNick |
| 505 IntegralNick: |
| 506 0088 0000 0000 .skip 4,0 |
| 507 .global ControlHeading |
| 508 .global ControlHeading |
| 511 ControlHeading: |
| 512 008c 00 .skip 1,0 |
| 513 .global NeutralAccZ |
| 514 .global NeutralAccZ |
| 517 NeutralAccZ: |
| 518 008d 0000 .skip 2,0 |
| 519 .global NaviCntAcc |
| 520 .global NaviCntAcc |
| 523 NaviCntAcc: |
| 524 008f 0000 .skip 2,0 |
| 525 .global NeutralAccY |
| 526 .global NeutralAccY |
| 529 NeutralAccY: |
| 530 0091 0000 .skip 2,0 |
| 531 .global NeutralAccX |
| 532 .global NeutralAccX |
| 535 NeutralAccX: |
| 536 0093 0000 .skip 2,0 |
| 537 .global StartNeutralNick |
| 538 .global StartNeutralNick |
| 541 StartNeutralNick: |
| 542 0095 0000 .skip 2,0 |
| 543 .global StartNeutralRoll |
| 544 .global StartNeutralRoll |
| 547 StartNeutralRoll: |
| 548 0097 0000 .skip 2,0 |
| 549 .global AdNeutralGier |
| 550 .global AdNeutralGier |
| 553 AdNeutralGier: |
| 554 0099 0000 .skip 2,0 |
| 555 .global AdNeutralRoll |
| 556 .global AdNeutralRoll |
| 559 AdNeutralRoll: |
| 560 009b 0000 .skip 2,0 |
| 561 .global AdNeutralNick |
| 562 .global AdNeutralNick |
| 565 AdNeutralNick: |
| 566 009d 0000 .skip 2,0 |
| 567 .global BaroExpandActive |
| 568 .global BaroExpandActive |
| 571 BaroExpandActive: |
| 572 009f 0000 .skip 2,0 |
| 573 .text |
| 574 .global CopyDebugValues |
| 576 CopyDebugValues: |
| 577 /* prologue: frame size=0 */ |
| 578 0000 EF92 push r14 |
| 579 0002 FF92 push r15 |
| 580 0004 0F93 push r16 |
| 581 0006 1F93 push r17 |
| 582 /* prologue end (size=4) */ |
| 583 0008 8091 0000 lds r24,EE_Parameter+28 |
| 584 000c 9927 clr r25 |
| 585 000e 880F lsl r24 |
| 586 0010 991F rol r25 |
| 587 0012 880F lsl r24 |
| 588 0014 991F rol r25 |
| 589 0016 7C01 movw r14,r24 |
| 590 0018 0027 clr r16 |
| 591 001a F7FC sbrc r15,7 |
| 592 001c 0095 com r16 |
| 593 001e 102F mov r17,r16 |
| 594 0020 8091 0000 lds r24,IntegralNick |
| 595 0024 9091 0000 lds r25,(IntegralNick)+1 |
| 596 0028 A091 0000 lds r26,(IntegralNick)+2 |
| 597 002c B091 0000 lds r27,(IntegralNick)+3 |
| 598 0030 BC01 movw r22,r24 |
| 599 0032 CD01 movw r24,r26 |
| 600 0034 A801 movw r20,r16 |
| 601 0036 9701 movw r18,r14 |
| 602 0038 0E94 0000 call __divmodsi4 |
| 603 003c 3093 0000 sts (DebugOut+2)+1,r19 |
| 604 0040 2093 0000 sts DebugOut+2,r18 |
| 605 0044 8091 0000 lds r24,IntegralRoll |
| 606 0048 9091 0000 lds r25,(IntegralRoll)+1 |
| 607 004c A091 0000 lds r26,(IntegralRoll)+2 |
| 608 0050 B091 0000 lds r27,(IntegralRoll)+3 |
| 609 0054 BC01 movw r22,r24 |
| 610 0056 CD01 movw r24,r26 |
| 611 0058 A801 movw r20,r16 |
| 612 005a 9701 movw r18,r14 |
| 613 005c 0E94 0000 call __divmodsi4 |
| 614 0060 3093 0000 sts (DebugOut+4)+1,r19 |
| 615 0064 2093 0000 sts DebugOut+4,r18 |
| 616 0068 8091 0000 lds r24,Mittelwert_AccNick |
| 617 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 618 0070 97FD sbrc r25,7 |
| 619 0072 0396 adiw r24,3 |
| 620 .L2: |
| 621 0074 9595 asr r25 |
| 622 0076 8795 ror r24 |
| 623 0078 9595 asr r25 |
| 624 007a 8795 ror r24 |
| 625 007c 9093 0000 sts (DebugOut+6)+1,r25 |
| 626 0080 8093 0000 sts DebugOut+6,r24 |
| 627 0084 8091 0000 lds r24,Mittelwert_AccRoll |
| 628 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 629 008c 97FD sbrc r25,7 |
| 630 008e 0396 adiw r24,3 |
| 631 .L3: |
| 632 0090 9595 asr r25 |
| 633 0092 8795 ror r24 |
| 634 0094 9595 asr r25 |
| 635 0096 8795 ror r24 |
| 636 0098 9093 0000 sts (DebugOut+8)+1,r25 |
| 637 009c 8093 0000 sts DebugOut+8,r24 |
| 638 00a0 8091 0000 lds r24,AdNeutralGier |
| 639 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 640 00a8 2091 0000 lds r18,AdWertGier |
| 641 00ac 3091 0000 lds r19,(AdWertGier)+1 |
| 642 00b0 821B sub r24,r18 |
| 643 00b2 930B sbc r25,r19 |
| 644 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
| 645 00b8 8093 0000 sts DebugOut+10,r24 |
| 646 00bc 8091 0000 lds r24,HoehenWert |
| 647 00c0 9091 0000 lds r25,(HoehenWert)+1 |
| 648 00c4 A091 0000 lds r26,(HoehenWert)+2 |
| 649 00c8 B091 0000 lds r27,(HoehenWert)+3 |
| 650 00cc BC01 movw r22,r24 |
| 651 00ce CD01 movw r24,r26 |
| 652 00d0 25E0 ldi r18,lo8(5) |
| 653 00d2 30E0 ldi r19,hi8(5) |
| 654 00d4 40E0 ldi r20,hlo8(5) |
| 655 00d6 50E0 ldi r21,hhi8(5) |
| 656 00d8 0E94 0000 call __divmodsi4 |
| 657 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
| 658 00e0 2093 0000 sts DebugOut+12,r18 |
| 659 00e4 8091 0000 lds r24,AdWertAccHoch |
| 660 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 661 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
| 662 00f0 8093 0000 sts DebugOut+14,r24 |
| 663 00f4 8091 0000 lds r24,KompassValue |
| 664 00f8 9091 0000 lds r25,(KompassValue)+1 |
| 665 00fc 9093 0000 sts (DebugOut+18)+1,r25 |
| 666 0100 8093 0000 sts DebugOut+18,r24 |
| 667 0104 8091 0000 lds r24,UBat |
| 668 0108 9091 0000 lds r25,(UBat)+1 |
| 669 010c 9093 0000 sts (DebugOut+20)+1,r25 |
| 670 0110 8093 0000 sts DebugOut+20,r24 |
| 671 0114 8091 0000 lds r24,SenderOkay |
| 672 0118 9927 clr r25 |
| 673 011a 9093 0000 sts (DebugOut+22)+1,r25 |
| 674 011e 8093 0000 sts DebugOut+22,r24 |
| 675 0122 8091 0000 lds r24,ErsatzKompass |
| 676 0126 9091 0000 lds r25,(ErsatzKompass)+1 |
| 677 012a A091 0000 lds r26,(ErsatzKompass)+2 |
| 678 012e B091 0000 lds r27,(ErsatzKompass)+3 |
| 679 0132 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 680 0136 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 681 013a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 682 013e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 683 0142 BC01 movw r22,r24 |
| 684 0144 CD01 movw r24,r26 |
| 685 0146 0E94 0000 call __divmodsi4 |
| 686 014a 3093 0000 sts (DebugOut+24)+1,r19 |
| 687 014e 2093 0000 sts DebugOut+24,r18 |
| 688 0152 8091 0000 lds r24,Motor+1 |
| 689 0156 9927 clr r25 |
| 690 0158 9093 0000 sts (DebugOut+26)+1,r25 |
| 691 015c 8093 0000 sts DebugOut+26,r24 |
| 692 0160 8091 0000 lds r24,Motor+9 |
| 693 0164 9927 clr r25 |
| 694 0166 9093 0000 sts (DebugOut+28)+1,r25 |
| 695 016a 8093 0000 sts DebugOut+28,r24 |
| 696 016e 8091 0000 lds r24,Motor+17 |
| 697 0172 9927 clr r25 |
| 698 0174 9093 0000 sts (DebugOut+30)+1,r25 |
| 699 0178 8093 0000 sts DebugOut+30,r24 |
| 700 017c 8091 0000 lds r24,Motor+25 |
| 701 0180 9927 clr r25 |
| 702 0182 9093 0000 sts (DebugOut+32)+1,r25 |
| 703 0186 8093 0000 sts DebugOut+32,r24 |
| 704 018a 8091 0000 lds r24,ServoNickValue |
| 705 018e 9091 0000 lds r25,(ServoNickValue)+1 |
| 706 0192 9093 0000 sts (DebugOut+42)+1,r25 |
| 707 0196 8093 0000 sts DebugOut+42,r24 |
| 708 019a 8091 0000 lds r24,Capacity |
| 709 019e 9091 0000 lds r25,(Capacity)+1 |
| 710 01a2 9093 0000 sts (DebugOut+46)+1,r25 |
| 711 01a6 8093 0000 sts DebugOut+46,r24 |
| 712 01aa 8091 0000 lds r24,Capacity+4 |
| 713 01ae 9091 0000 lds r25,(Capacity+4)+1 |
| 714 01b2 9093 0000 sts (DebugOut+48)+1,r25 |
| 715 01b6 8093 0000 sts DebugOut+48,r24 |
| 716 01ba 8091 0000 lds r24,Capacity+6 |
| 717 01be 9927 clr r25 |
| 718 01c0 9093 0000 sts (DebugOut+60)+1,r25 |
| 719 01c4 8093 0000 sts DebugOut+60,r24 |
| 720 01c8 8091 0000 lds r24,GPS_Nick |
| 721 01cc 9091 0000 lds r25,(GPS_Nick)+1 |
| 722 01d0 9093 0000 sts (DebugOut+62)+1,r25 |
| 723 01d4 8093 0000 sts DebugOut+62,r24 |
| 724 01d8 8091 0000 lds r24,GPS_Roll |
| 725 01dc 9091 0000 lds r25,(GPS_Roll)+1 |
| 726 01e0 9093 0000 sts (DebugOut+64)+1,r25 |
| 727 01e4 8093 0000 sts DebugOut+64,r24 |
| 728 01e8 8091 0000 lds r24,VersionInfo+5 |
| 729 01ec 8823 tst r24 |
| 730 01ee 21F4 brne .L5 |
| 731 01f0 8091 0000 lds r24,VersionInfo+6 |
| 732 01f4 8823 tst r24 |
| 733 01f6 21F0 breq .L4 |
| 734 .L5: |
| 735 01f8 8091 0000 lds r24,DebugOut+1 |
| 736 01fc 8160 ori r24,lo8(1) |
| 737 01fe 03C0 rjmp .L7 |
| 738 .L4: |
| 739 0200 8091 0000 lds r24,DebugOut+1 |
| 740 0204 8E7F andi r24,lo8(-2) |
| 741 .L7: |
| 742 0206 8093 0000 sts DebugOut+1,r24 |
| 743 /* epilogue: frame size=0 */ |
| 744 020a 1F91 pop r17 |
| 745 020c 0F91 pop r16 |
| 746 020e FF90 pop r15 |
| 747 0210 EF90 pop r14 |
| 748 0212 0895 ret |
| 749 /* epilogue end (size=5) */ |
| 750 /* function CopyDebugValues size 268 (259) */ |
| 752 .global Piep |
| 754 Piep: |
| 755 /* prologue: frame size=0 */ |
| 756 0214 1F93 push r17 |
| 757 0216 CF93 push r28 |
| 758 0218 DF93 push r29 |
| 759 /* prologue end (size=3) */ |
| 760 021a 182F mov r17,r24 |
| 761 021c EB01 movw r28,r22 |
| 762 021e 8091 0000 lds r24,MotorenEin |
| 763 0222 8823 tst r24 |
| 764 0224 A1F4 brne .L8 |
| 765 0226 1150 subi r17,lo8(-(-1)) |
| 766 0228 1F3F cpi r17,lo8(-1) |
| 767 022a 89F0 breq .L8 |
| 768 .L15: |
| 769 022c D093 0000 sts (beeptime)+1,r29 |
| 770 0230 C093 0000 sts beeptime,r28 |
| 771 .L12: |
| 772 0234 8091 0000 lds r24,beeptime |
| 773 0238 9091 0000 lds r25,(beeptime)+1 |
| 774 023c 892B or r24,r25 |
| 775 023e D1F7 brne .L12 |
| 776 0240 CE01 movw r24,r28 |
| 777 0242 8C0F add r24,r28 |
| 778 0244 9D1F adc r25,r29 |
| 779 0246 0E94 0000 call Delay_ms |
| 780 024a 1150 subi r17,1 |
| 781 024c 78F7 brcc .L15 |
| 782 .L8: |
| 783 /* epilogue: frame size=0 */ |
| 784 024e DF91 pop r29 |
| 785 0250 CF91 pop r28 |
| 786 0252 1F91 pop r17 |
| 787 0254 0895 ret |
| 788 /* epilogue end (size=4) */ |
| 789 /* function Piep size 34 (27) */ |
| 791 .global CalibrierMittelwert |
| 793 CalibrierMittelwert: |
| 794 /* prologue: frame size=0 */ |
| 795 0256 CF93 push r28 |
| 796 0258 DF93 push r29 |
| 797 /* prologue end (size=2) */ |
| 798 025a 8091 0000 lds r24,PlatinenVersion |
| 799 025e 8D30 cpi r24,lo8(13) |
| 800 0260 11F4 brne .L18 |
| 801 0262 0E94 0000 call SucheGyroOffset |
| 802 .L18: |
| 803 0266 1092 7A00 sts 122,__zero_reg__ |
| 804 026a 8091 0000 lds r24,AdWertNick |
| 805 026e 9091 0000 lds r25,(AdWertNick)+1 |
| 806 0272 9093 0000 sts (MesswertNick)+1,r25 |
| 807 0276 8093 0000 sts MesswertNick,r24 |
| 808 027a 8091 0000 lds r24,AdWertRoll |
| 809 027e 9091 0000 lds r25,(AdWertRoll)+1 |
| 810 0282 9093 0000 sts (MesswertRoll)+1,r25 |
| 811 0286 8093 0000 sts MesswertRoll,r24 |
| 812 028a 8091 0000 lds r24,AdWertGier |
| 813 028e 9091 0000 lds r25,(AdWertGier)+1 |
| 814 0292 9093 0000 sts (MesswertGier)+1,r25 |
| 815 0296 8093 0000 sts MesswertGier,r24 |
| 816 029a 2091 0000 lds r18,AdWertAccNick |
| 817 029e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 818 02a2 C901 movw r24,r18 |
| 819 02a4 880F lsl r24 |
| 820 02a6 991F rol r25 |
| 821 02a8 880F lsl r24 |
| 822 02aa 991F rol r25 |
| 823 02ac 820F add r24,r18 |
| 824 02ae 931F adc r25,r19 |
| 825 02b0 820F add r24,r18 |
| 826 02b2 931F adc r25,r19 |
| 827 02b4 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 828 02b8 8093 0000 sts Mittelwert_AccNick,r24 |
| 829 02bc 2091 0000 lds r18,AdWertAccRoll |
| 830 02c0 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 831 02c4 C901 movw r24,r18 |
| 832 02c6 880F lsl r24 |
| 833 02c8 991F rol r25 |
| 834 02ca 880F lsl r24 |
| 835 02cc 991F rol r25 |
| 836 02ce 820F add r24,r18 |
| 837 02d0 931F adc r25,r19 |
| 838 02d2 820F add r24,r18 |
| 839 02d4 931F adc r25,r19 |
| 840 02d6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 841 02da 8093 0000 sts Mittelwert_AccRoll,r24 |
| 842 02de 8FEC ldi r24,lo8(-49) |
| 843 02e0 8093 7A00 sts 122,r24 |
| 844 02e4 A0E0 ldi r26,lo8(Poti) |
| 845 02e6 B0E0 ldi r27,hi8(Poti) |
| 846 02e8 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 847 02ea D0E0 ldi r29,hi8(EE_Parameter+5) |
| 848 02ec 97E0 ldi r25,lo8(7) |
| 849 .L28: |
| 850 02ee 8991 ld r24,Y+ |
| 851 02f0 E82F mov r30,r24 |
| 852 02f2 FF27 clr r31 |
| 853 02f4 EE0F add r30,r30 |
| 854 02f6 FF1F adc r31,r31 |
| 855 02f8 E050 subi r30,lo8(-(PPM_in)) |
| 856 02fa F040 sbci r31,hi8(-(PPM_in)) |
| 857 02fc 0190 ld __tmp_reg__,Z+ |
| 858 02fe F081 ld r31,Z |
| 859 0300 E02D mov r30,__tmp_reg__ |
| 860 0302 E259 subi r30,lo8(-(110)) |
| 861 0304 FF4F sbci r31,hi8(-(110)) |
| 862 0306 1E16 cp __zero_reg__,r30 |
| 863 0308 1F06 cpc __zero_reg__,r31 |
| 864 030a 1CF0 brlt .L22 |
| 865 030c E0E0 ldi r30,lo8(0) |
| 866 030e F0E0 ldi r31,hi8(0) |
| 867 0310 05C0 rjmp .L23 |
| 868 .L22: |
| 869 0312 EF3F cpi r30,255 |
| 870 0314 F105 cpc r31,__zero_reg__ |
| 871 0316 14F0 brlt .L23 |
| 872 0318 EFEF ldi r30,lo8(255) |
| 873 031a F0E0 ldi r31,hi8(255) |
| 874 .L23: |
| 875 031c 8C91 ld r24,X |
| 876 031e 282F mov r18,r24 |
| 877 0320 3327 clr r19 |
| 878 0322 E217 cp r30,r18 |
| 879 0324 F307 cpc r31,r19 |
| 880 0326 14F4 brge .L25 |
| 881 0328 8150 subi r24,lo8(-(-1)) |
| 882 032a 04C0 rjmp .L31 |
| 883 .L25: |
| 884 032c 2E17 cp r18,r30 |
| 885 032e 3F07 cpc r19,r31 |
| 886 0330 14F4 brge .L21 |
| 887 0332 8F5F subi r24,lo8(-(1)) |
| 888 .L31: |
| 889 0334 8C93 st X,r24 |
| 890 .L21: |
| 891 0336 9150 subi r25,lo8(-(-1)) |
| 892 0338 1196 adiw r26,1 |
| 893 033a 97FF sbrs r25,7 |
| 894 033c D8CF rjmp .L28 |
| 895 033e 8091 0000 lds r24,EE_Parameter+63 |
| 896 0342 9927 clr r25 |
| 897 0344 AA27 clr r26 |
| 898 0346 BB27 clr r27 |
| 899 0348 BC01 movw r22,r24 |
| 900 034a CD01 movw r24,r26 |
| 901 034c 24EC ldi r18,lo8(2500) |
| 902 034e 39E0 ldi r19,hi8(2500) |
| 903 0350 40E0 ldi r20,hlo8(2500) |
| 904 0352 50E0 ldi r21,hhi8(2500) |
| 905 0354 0E94 0000 call __mulsi3 |
| 906 0358 DC01 movw r26,r24 |
| 907 035a CB01 movw r24,r22 |
| 908 035c 8093 0000 sts Umschlag180Nick,r24 |
| 909 0360 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 910 0364 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 911 0368 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 912 036c 8091 0000 lds r24,EE_Parameter+64 |
| 913 0370 9927 clr r25 |
| 914 0372 AA27 clr r26 |
| 915 0374 BB27 clr r27 |
| 916 0376 BC01 movw r22,r24 |
| 917 0378 CD01 movw r24,r26 |
| 918 037a 0E94 0000 call __mulsi3 |
| 919 037e DC01 movw r26,r24 |
| 920 0380 CB01 movw r24,r22 |
| 921 0382 8093 0000 sts Umschlag180Roll,r24 |
| 922 0386 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 923 038a A093 0000 sts (Umschlag180Roll)+2,r26 |
| 924 038e B093 0000 sts (Umschlag180Roll)+3,r27 |
| 925 /* epilogue: frame size=0 */ |
| 926 0392 DF91 pop r29 |
| 927 0394 CF91 pop r28 |
| 928 0396 0895 ret |
| 929 /* epilogue end (size=3) */ |
| 930 /* function CalibrierMittelwert size 161 (156) */ |
| 932 .section .progmem.data,"a",@progbits |
| 935 __c.40: |
| 936 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
| 936 4320 6E6F |
| 936 7420 6361 |
| 936 6C69 6272 |
| 936 6174 6564 |
| 937 .text |
| 938 .global SetNeutral |
| 940 SetNeutral: |
| 941 /* prologue: frame size=0 */ |
| 942 0398 A0E0 ldi r26,lo8(0) |
| 943 039a B0E0 ldi r27,hi8(0) |
| 944 039c E0E0 ldi r30,pm_lo8(1f) |
| 945 039e F0E0 ldi r31,pm_hi8(1f) |
| 946 03a0 0C94 0000 jmp __prologue_saves__+12 |
| 947 1: |
| 948 /* prologue end (size=6) */ |
| 949 03a4 882E mov r8,r24 |
| 950 03a6 C0E0 ldi r28,lo8(0) |
| 951 03a8 D0E0 ldi r29,hi8(0) |
| 952 03aa 7E01 movw r14,r28 |
| 953 03ac 6E01 movw r12,r28 |
| 954 03ae 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 955 03b2 469A sbi 40-0x20,6 |
| 956 03b4 D093 0000 sts (NeutralAccX)+1,r29 |
| 957 03b8 C093 0000 sts NeutralAccX,r28 |
| 958 03bc D093 0000 sts (NeutralAccY)+1,r29 |
| 959 03c0 C093 0000 sts NeutralAccY,r28 |
| 960 03c4 D093 0000 sts (NeutralAccZ)+1,r29 |
| 961 03c8 C093 0000 sts NeutralAccZ,r28 |
| 962 03cc D093 0000 sts (AdNeutralNick)+1,r29 |
| 963 03d0 C093 0000 sts AdNeutralNick,r28 |
| 964 03d4 D093 0000 sts (AdNeutralRoll)+1,r29 |
| 965 03d8 C093 0000 sts AdNeutralRoll,r28 |
| 966 03dc D093 0000 sts (AdNeutralGier)+1,r29 |
| 967 03e0 C093 0000 sts AdNeutralGier,r28 |
| 968 03e4 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 969 03e8 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 970 03ec 1092 0000 sts ExpandBaro,__zero_reg__ |
| 971 03f0 0E94 0000 call CalibrierMittelwert |
| 972 03f4 84E6 ldi r24,lo8(100) |
| 973 03f6 90E0 ldi r25,hi8(100) |
| 974 03f8 0E94 0000 call Delay_ms_Mess |
| 975 03fc 0E94 0000 call CalibrierMittelwert |
| 976 0400 8091 0000 lds r24,EE_Parameter+13 |
| 977 0404 80FF sbrs r24,0 |
| 978 0406 10C0 rjmp .L33 |
| 979 0408 8091 0000 lds r24,MessLuftdruck |
| 980 040c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 981 0410 875B subi r24,lo8(951) |
| 982 0412 9340 sbci r25,hi8(951) |
| 983 0414 38F4 brsh .L35 |
| 984 0416 8091 0000 lds r24,MessLuftdruck |
| 985 041a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 986 041e 8E5E subi r24,lo8(750) |
| 987 0420 9240 sbci r25,hi8(750) |
| 988 0422 10F4 brsh .L33 |
| 989 .L35: |
| 990 0424 0E94 0000 call SucheLuftruckOffset |
| 991 .L33: |
| 992 0428 0FE1 ldi r16,lo8(31) |
| 993 .L39: |
| 994 042a 8AE0 ldi r24,lo8(10) |
| 995 042c 90E0 ldi r25,hi8(10) |
| 996 042e 0E94 0000 call Delay_ms_Mess |
| 997 0432 8091 0000 lds r24,AdWertGier |
| 998 0436 9091 0000 lds r25,(AdWertGier)+1 |
| 999 043a C80F add r28,r24 |
| 1000 043c D91F adc r29,r25 |
| 1001 043e 8091 0000 lds r24,AdWertNick |
| 1002 0442 9091 0000 lds r25,(AdWertNick)+1 |
| 1003 0446 E80E add r14,r24 |
| 1004 0448 F91E adc r15,r25 |
| 1005 044a 8091 0000 lds r24,AdWertRoll |
| 1006 044e 9091 0000 lds r25,(AdWertRoll)+1 |
| 1007 0452 C80E add r12,r24 |
| 1008 0454 D91E adc r13,r25 |
| 1009 0456 0150 subi r16,lo8(-(-1)) |
| 1010 0458 07FF sbrs r16,7 |
| 1011 045a E7CF rjmp .L39 |
| 1012 045c 9701 movw r18,r14 |
| 1013 045e 205F subi r18,lo8(-(16)) |
| 1014 0460 3F4F sbci r19,hi8(-(16)) |
| 1015 0462 3695 lsr r19 |
| 1016 0464 2795 ror r18 |
| 1017 0466 3695 lsr r19 |
| 1018 0468 2795 ror r18 |
| 1019 046a 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1020 046e 2093 0000 sts AdNeutralNick,r18 |
| 1021 0472 C601 movw r24,r12 |
| 1022 0474 4096 adiw r24,16 |
| 1023 0476 9695 lsr r25 |
| 1024 0478 8795 ror r24 |
| 1025 047a 9695 lsr r25 |
| 1026 047c 8795 ror r24 |
| 1027 047e 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1028 0482 8093 0000 sts AdNeutralRoll,r24 |
| 1029 0486 6096 adiw r28,16 |
| 1030 0488 F5E0 ldi r31,5 |
| 1031 048a D695 1: lsr r29 |
| 1032 048c C795 ror r28 |
| 1033 048e FA95 dec r31 |
| 1034 0490 E1F7 brne 1b |
| 1035 0492 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1036 0496 C093 0000 sts AdNeutralGier,r28 |
| 1037 049a 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1038 049e 8093 0000 sts StartNeutralRoll,r24 |
| 1039 04a2 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1040 04a6 2093 0000 sts StartNeutralNick,r18 |
| 1041 04aa 8820 tst r8 |
| 1042 04ac 09F4 brne .+2 |
| 1043 04ae 41C0 rjmp .L40 |
| 1044 04b0 8091 0000 lds r24,Mittelwert_AccNick |
| 1045 04b4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1046 04b8 97FF sbrs r25,7 |
| 1047 04ba 03C0 rjmp .L41 |
| 1048 04bc 9095 com r25 |
| 1049 04be 8195 neg r24 |
| 1050 04c0 9F4F sbci r25,lo8(-1) |
| 1051 .L41: |
| 1052 04c2 6CE0 ldi r22,lo8(12) |
| 1053 04c4 70E0 ldi r23,hi8(12) |
| 1054 04c6 0E94 0000 call __divmodhi4 |
| 1055 04ca 9B01 movw r18,r22 |
| 1056 04cc 7093 0000 sts (NeutralAccX)+1,r23 |
| 1057 04d0 6093 0000 sts NeutralAccX,r22 |
| 1058 04d4 8091 0000 lds r24,Mittelwert_AccRoll |
| 1059 04d8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1060 04dc 97FF sbrs r25,7 |
| 1061 04de 03C0 rjmp .L42 |
| 1062 04e0 9095 com r25 |
| 1063 04e2 8195 neg r24 |
| 1064 04e4 9F4F sbci r25,lo8(-1) |
| 1065 .L42: |
| 1066 04e6 6CE0 ldi r22,lo8(12) |
| 1067 04e8 70E0 ldi r23,hi8(12) |
| 1068 04ea 0E94 0000 call __divmodhi4 |
| 1069 04ee 7093 0000 sts (NeutralAccY)+1,r23 |
| 1070 04f2 6093 0000 sts NeutralAccY,r22 |
| 1071 04f6 8091 0000 lds r24,Aktuell_az |
| 1072 04fa 9091 0000 lds r25,(Aktuell_az)+1 |
| 1073 04fe 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1074 0502 8093 0000 sts NeutralAccZ,r24 |
| 1075 0506 B901 movw r22,r18 |
| 1076 0508 84E0 ldi r24,lo8(4) |
| 1077 050a 90E0 ldi r25,hi8(4) |
| 1078 050c 0E94 0000 call SetParamWord |
| 1079 0510 6091 0000 lds r22,NeutralAccY |
| 1080 0514 7091 0000 lds r23,(NeutralAccY)+1 |
| 1081 0518 86E0 ldi r24,lo8(6) |
| 1082 051a 90E0 ldi r25,hi8(6) |
| 1083 051c 0E94 0000 call SetParamWord |
| 1084 0520 6091 0000 lds r22,NeutralAccZ |
| 1085 0524 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1086 0528 88E0 ldi r24,lo8(8) |
| 1087 052a 90E0 ldi r25,hi8(8) |
| 1088 052c 0E94 0000 call SetParamWord |
| 1089 0530 65C0 rjmp .L43 |
| 1090 .L40: |
| 1091 0532 84E0 ldi r24,lo8(4) |
| 1092 0534 90E0 ldi r25,hi8(4) |
| 1093 0536 0E94 0000 call GetParamWord |
| 1094 053a 9093 0000 sts (NeutralAccX)+1,r25 |
| 1095 053e 8093 0000 sts NeutralAccX,r24 |
| 1096 0542 86E0 ldi r24,lo8(6) |
| 1097 0544 90E0 ldi r25,hi8(6) |
| 1098 0546 0E94 0000 call GetParamWord |
| 1099 054a 9093 0000 sts (NeutralAccY)+1,r25 |
| 1100 054e 8093 0000 sts NeutralAccY,r24 |
| 1101 0552 88E0 ldi r24,lo8(8) |
| 1102 0554 90E0 ldi r25,hi8(8) |
| 1103 0556 0E94 0000 call GetParamWord |
| 1104 055a 9C01 movw r18,r24 |
| 1105 055c 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1106 0560 8093 0000 sts NeutralAccZ,r24 |
| 1107 0564 8091 0000 lds r24,NeutralAccX |
| 1108 0568 9091 0000 lds r25,(NeutralAccX)+1 |
| 1109 056c 8150 subi r24,lo8(2049) |
| 1110 056e 9840 sbci r25,hi8(2049) |
| 1111 0570 50F4 brsh .L45 |
| 1112 0572 8091 0000 lds r24,NeutralAccY |
| 1113 0576 9091 0000 lds r25,(NeutralAccY)+1 |
| 1114 057a 8150 subi r24,lo8(2049) |
| 1115 057c 9840 sbci r25,hi8(2049) |
| 1116 057e 18F4 brsh .L45 |
| 1117 0580 2150 subi r18,lo8(1025) |
| 1118 0582 3440 sbci r19,hi8(1025) |
| 1119 0584 D8F1 brlo .L43 |
| 1120 .L45: |
| 1121 0586 80E0 ldi r24,lo8(__c.40) |
| 1122 0588 90E0 ldi r25,hi8(__c.40) |
| 1123 058a 9F93 push r25 |
| 1124 058c 8F93 push r24 |
| 1125 058e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1126 0590 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1127 0592 9F93 push r25 |
| 1128 0594 8F93 push r24 |
| 1129 0596 E091 0000 lds r30,_printf_P |
| 1130 059a F091 0000 lds r31,(_printf_P)+1 |
| 1131 059e 0995 icall |
| 1132 05a0 8091 0000 lds r24,Mittelwert_AccNick |
| 1133 05a4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1134 05a8 97FF sbrs r25,7 |
| 1135 05aa 03C0 rjmp .L46 |
| 1136 05ac 9095 com r25 |
| 1137 05ae 8195 neg r24 |
| 1138 05b0 9F4F sbci r25,lo8(-1) |
| 1139 .L46: |
| 1140 05b2 6CE0 ldi r22,lo8(12) |
| 1141 05b4 70E0 ldi r23,hi8(12) |
| 1142 05b6 0E94 0000 call __divmodhi4 |
| 1143 05ba 7093 0000 sts (NeutralAccX)+1,r23 |
| 1144 05be 6093 0000 sts NeutralAccX,r22 |
| 1145 05c2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1146 05c6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1147 05ca 97FF sbrs r25,7 |
| 1148 05cc 03C0 rjmp .L47 |
| 1149 05ce 9095 com r25 |
| 1150 05d0 8195 neg r24 |
| 1151 05d2 9F4F sbci r25,lo8(-1) |
| 1152 .L47: |
| 1153 05d4 6CE0 ldi r22,lo8(12) |
| 1154 05d6 70E0 ldi r23,hi8(12) |
| 1155 05d8 0E94 0000 call __divmodhi4 |
| 1156 05dc 7093 0000 sts (NeutralAccY)+1,r23 |
| 1157 05e0 6093 0000 sts NeutralAccY,r22 |
| 1158 05e4 8091 0000 lds r24,Aktuell_az |
| 1159 05e8 9091 0000 lds r25,(Aktuell_az)+1 |
| 1160 05ec 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1161 05f0 8093 0000 sts NeutralAccZ,r24 |
| 1162 05f4 0F90 pop __tmp_reg__ |
| 1163 05f6 0F90 pop __tmp_reg__ |
| 1164 05f8 0F90 pop __tmp_reg__ |
| 1165 05fa 0F90 pop __tmp_reg__ |
| 1166 .L43: |
| 1167 05fc 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1168 0600 1092 0000 sts MesswertNick,__zero_reg__ |
| 1169 0604 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1170 0608 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1171 060c 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1172 0610 1092 0000 sts MesswertGier,__zero_reg__ |
| 1173 0614 84E6 ldi r24,lo8(100) |
| 1174 0616 90E0 ldi r25,hi8(100) |
| 1175 0618 0E94 0000 call Delay_ms_Mess |
| 1176 061c 8091 0000 lds r24,AdWertAccNick |
| 1177 0620 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1178 0624 9C01 movw r18,r24 |
| 1179 0626 220F lsl r18 |
| 1180 0628 331F rol r19 |
| 1181 062a 220F lsl r18 |
| 1182 062c 331F rol r19 |
| 1183 062e 280F add r18,r24 |
| 1184 0630 391F adc r19,r25 |
| 1185 0632 280F add r18,r24 |
| 1186 0634 391F adc r19,r25 |
| 1187 0636 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1188 063a 2093 0000 sts Mittelwert_AccNick,r18 |
| 1189 063e 8091 0000 lds r24,AdWertAccRoll |
| 1190 0642 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1191 0646 8C01 movw r16,r24 |
| 1192 0648 000F lsl r16 |
| 1193 064a 111F rol r17 |
| 1194 064c 000F lsl r16 |
| 1195 064e 111F rol r17 |
| 1196 0650 080F add r16,r24 |
| 1197 0652 191F adc r17,r25 |
| 1198 0654 080F add r16,r24 |
| 1199 0656 191F adc r17,r25 |
| 1200 0658 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1201 065c 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1202 0660 8091 0000 lds r24,EE_Parameter+28 |
| 1203 0664 C82E mov r12,r24 |
| 1204 0666 DD24 clr r13 |
| 1205 0668 EE24 clr r14 |
| 1206 066a FF24 clr r15 |
| 1207 066c 4427 clr r20 |
| 1208 066e 37FD sbrc r19,7 |
| 1209 0670 4095 com r20 |
| 1210 0672 542F mov r21,r20 |
| 1211 0674 C701 movw r24,r14 |
| 1212 0676 B601 movw r22,r12 |
| 1213 0678 0E94 0000 call __mulsi3 |
| 1214 067c 4B01 movw r8,r22 |
| 1215 067e 5C01 movw r10,r24 |
| 1216 0680 6093 0000 sts IntegralNick,r22 |
| 1217 0684 7093 0000 sts (IntegralNick)+1,r23 |
| 1218 0688 8093 0000 sts (IntegralNick)+2,r24 |
| 1219 068c 9093 0000 sts (IntegralNick)+3,r25 |
| 1220 0690 9801 movw r18,r16 |
| 1221 0692 4427 clr r20 |
| 1222 0694 37FD sbrc r19,7 |
| 1223 0696 4095 com r20 |
| 1224 0698 542F mov r21,r20 |
| 1225 069a C701 movw r24,r14 |
| 1226 069c B601 movw r22,r12 |
| 1227 069e 0E94 0000 call __mulsi3 |
| 1228 06a2 DC01 movw r26,r24 |
| 1229 06a4 CB01 movw r24,r22 |
| 1230 06a6 8093 0000 sts IntegralRoll,r24 |
| 1231 06aa 9093 0000 sts (IntegralRoll)+1,r25 |
| 1232 06ae A093 0000 sts (IntegralRoll)+2,r26 |
| 1233 06b2 B093 0000 sts (IntegralRoll)+3,r27 |
| 1234 06b6 8092 0000 sts Mess_IntegralNick2,r8 |
| 1235 06ba 9092 0000 sts (Mess_IntegralNick2)+1,r9 |
| 1236 06be A092 0000 sts (Mess_IntegralNick2)+2,r10 |
| 1237 06c2 B092 0000 sts (Mess_IntegralNick2)+3,r11 |
| 1238 06c6 8093 0000 sts Mess_IntegralRoll2,r24 |
| 1239 06ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 1240 06ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 1241 06d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 1242 06d6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1243 06da 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1244 06de 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1245 06e2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1246 06e6 8091 0000 lds r24,Luftdruck |
| 1247 06ea 9091 0000 lds r25,(Luftdruck)+1 |
| 1248 06ee A091 0000 lds r26,(Luftdruck)+2 |
| 1249 06f2 B091 0000 lds r27,(Luftdruck)+3 |
| 1250 06f6 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1251 06fa 8093 0000 sts StartLuftdruck,r24 |
| 1252 06fe 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1253 0702 1092 0000 sts VarioMeter,__zero_reg__ |
| 1254 0706 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1255 070a 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1256 070e 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1257 0712 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1258 0716 8091 0000 lds r24,KompassValue |
| 1259 071a 9091 0000 lds r25,(KompassValue)+1 |
| 1260 071e 9093 0000 sts (KompassStartwert)+1,r25 |
| 1261 0722 8093 0000 sts KompassStartwert,r24 |
| 1262 0726 0E94 0000 call GPS_Neutral |
| 1263 072a 82E3 ldi r24,lo8(50) |
| 1264 072c 90E0 ldi r25,hi8(50) |
| 1265 072e 9093 0000 sts (beeptime)+1,r25 |
| 1266 0732 8093 0000 sts beeptime,r24 |
| 1267 0736 8091 0000 lds r24,EE_Parameter+63 |
| 1268 073a 9927 clr r25 |
| 1269 073c AA27 clr r26 |
| 1270 073e BB27 clr r27 |
| 1271 0740 BC01 movw r22,r24 |
| 1272 0742 CD01 movw r24,r26 |
| 1273 0744 24EC ldi r18,lo8(2500) |
| 1274 0746 39E0 ldi r19,hi8(2500) |
| 1275 0748 40E0 ldi r20,hlo8(2500) |
| 1276 074a 50E0 ldi r21,hhi8(2500) |
| 1277 074c 0E94 0000 call __mulsi3 |
| 1278 0750 DC01 movw r26,r24 |
| 1279 0752 CB01 movw r24,r22 |
| 1280 0754 8856 subi r24,lo8(-(15000)) |
| 1281 0756 954C sbci r25,hi8(-(15000)) |
| 1282 0758 AF4F sbci r26,hlo8(-(15000)) |
| 1283 075a BF4F sbci r27,hhi8(-(15000)) |
| 1284 075c 8093 0000 sts Umschlag180Nick,r24 |
| 1285 0760 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1286 0764 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1287 0768 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1288 076c 8091 0000 lds r24,EE_Parameter+64 |
| 1289 0770 9927 clr r25 |
| 1290 0772 AA27 clr r26 |
| 1291 0774 BB27 clr r27 |
| 1292 0776 BC01 movw r22,r24 |
| 1293 0778 CD01 movw r24,r26 |
| 1294 077a 0E94 0000 call __mulsi3 |
| 1295 077e DC01 movw r26,r24 |
| 1296 0780 CB01 movw r24,r22 |
| 1297 0782 8856 subi r24,lo8(-(15000)) |
| 1298 0784 954C sbci r25,hi8(-(15000)) |
| 1299 0786 AF4F sbci r26,hlo8(-(15000)) |
| 1300 0788 BF4F sbci r27,hhi8(-(15000)) |
| 1301 078a 8093 0000 sts Umschlag180Roll,r24 |
| 1302 078e 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1303 0792 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1304 0796 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1305 079a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1306 079e 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1307 07a2 8091 0000 lds r24,KompassValue |
| 1308 07a6 9091 0000 lds r25,(KompassValue)+1 |
| 1309 07aa AA27 clr r26 |
| 1310 07ac 97FD sbrc r25,7 |
| 1311 07ae A095 com r26 |
| 1312 07b0 BA2F mov r27,r26 |
| 1313 07b2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1314 07b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1315 07ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1316 07be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1317 07c2 BC01 movw r22,r24 |
| 1318 07c4 CD01 movw r24,r26 |
| 1319 07c6 0E94 0000 call __mulsi3 |
| 1320 07ca DC01 movw r26,r24 |
| 1321 07cc CB01 movw r24,r22 |
| 1322 07ce 8093 0000 sts ErsatzKompass,r24 |
| 1323 07d2 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1324 07d6 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1325 07da B093 0000 sts (ErsatzKompass)+3,r27 |
| 1326 07de 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1327 07e2 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1328 07e6 81E0 ldi r24,lo8(1) |
| 1329 07e8 8093 0000 sts SendVersionToNavi,r24 |
| 1330 07ec 0E94 0000 call LED_Init |
| 1331 07f0 8091 0000 lds r24,FCFlags |
| 1332 07f4 8460 ori r24,lo8(4) |
| 1333 07f6 8093 0000 sts FCFlags,r24 |
| 1334 07fa 8FEF ldi r24,lo8(-1) |
| 1335 07fc 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1336 0800 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1337 0804 80E2 ldi r24,lo8(32) |
| 1338 0806 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1339 080a C0E0 ldi r28,lo8(Poti) |
| 1340 080c D0E0 ldi r29,hi8(Poti) |
| 1341 080e A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1342 0810 B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1343 0812 07E0 ldi r16,lo8(7) |
| 1344 .L51: |
| 1345 0814 8D91 ld r24,X+ |
| 1346 0816 E82F mov r30,r24 |
| 1347 0818 FF27 clr r31 |
| 1348 081a EE0F add r30,r30 |
| 1349 081c FF1F adc r31,r31 |
| 1350 081e E050 subi r30,lo8(-(PPM_in)) |
| 1351 0820 F040 sbci r31,hi8(-(PPM_in)) |
| 1352 0822 8081 ld r24,Z |
| 1353 0824 9181 ldd r25,Z+1 |
| 1354 0826 8259 subi r24,lo8(-(110)) |
| 1355 0828 8993 st Y+,r24 |
| 1356 082a 0150 subi r16,lo8(-(-1)) |
| 1357 082c 07FF sbrs r16,7 |
| 1358 082e F2CF rjmp .L51 |
| 1359 0830 84E6 ldi r24,lo8(100) |
| 1360 0832 8093 0000 sts SenderOkay,r24 |
| 1361 0836 8091 0000 lds r24,ServoActive |
| 1362 083a 8823 tst r24 |
| 1363 083c 11F0 breq .L52 |
| 1364 083e 469A sbi 40-0x20,6 |
| 1365 0840 579A sbi 42-0x20,7 |
| 1366 .L52: |
| 1367 0842 8091 0000 lds r24,AdNeutralNick |
| 1368 0846 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1369 084a 8056 subi r24,lo8(-(-2400)) |
| 1370 084c 9940 sbci r25,hi8(-(-2400)) |
| 1371 084e 815C subi r24,lo8(11201) |
| 1372 0850 9B42 sbci r25,hi8(11201) |
| 1373 0852 28F0 brlo .L53 |
| 1374 0854 8091 0000 lds r24,VersionInfo+5 |
| 1375 0858 8160 ori r24,lo8(1) |
| 1376 085a 8093 0000 sts VersionInfo+5,r24 |
| 1377 .L53: |
| 1378 085e 8091 0000 lds r24,AdNeutralRoll |
| 1379 0862 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1380 0866 8056 subi r24,lo8(-(-2400)) |
| 1381 0868 9940 sbci r25,hi8(-(-2400)) |
| 1382 086a 815C subi r24,lo8(11201) |
| 1383 086c 9B42 sbci r25,hi8(11201) |
| 1384 086e 28F0 brlo .L54 |
| 1385 0870 8091 0000 lds r24,VersionInfo+5 |
| 1386 0874 8260 ori r24,lo8(2) |
| 1387 0876 8093 0000 sts VersionInfo+5,r24 |
| 1388 .L54: |
| 1389 087a 8091 0000 lds r24,AdNeutralGier |
| 1390 087e 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1391 0882 8C52 subi r24,lo8(-(-300)) |
| 1392 0884 9140 sbci r25,hi8(-(-300)) |
| 1393 0886 8957 subi r24,lo8(1401) |
| 1394 0888 9540 sbci r25,hi8(1401) |
| 1395 088a 28F0 brlo .L55 |
| 1396 088c 8091 0000 lds r24,VersionInfo+5 |
| 1397 0890 8460 ori r24,lo8(4) |
| 1398 0892 8093 0000 sts VersionInfo+5,r24 |
| 1399 .L55: |
| 1400 0896 8091 0000 lds r24,NeutralAccX |
| 1401 089a 9091 0000 lds r25,(NeutralAccX)+1 |
| 1402 089e 8C52 subi r24,lo8(-(-300)) |
| 1403 08a0 9140 sbci r25,hi8(-(-300)) |
| 1404 08a2 835C subi r24,lo8(451) |
| 1405 08a4 9140 sbci r25,hi8(451) |
| 1406 08a6 28F0 brlo .L56 |
| 1407 08a8 8091 0000 lds r24,VersionInfo+5 |
| 1408 08ac 8860 ori r24,lo8(8) |
| 1409 08ae 8093 0000 sts VersionInfo+5,r24 |
| 1410 .L56: |
| 1411 08b2 8091 0000 lds r24,NeutralAccY |
| 1412 08b6 9091 0000 lds r25,(NeutralAccY)+1 |
| 1413 08ba 8C52 subi r24,lo8(-(-300)) |
| 1414 08bc 9140 sbci r25,hi8(-(-300)) |
| 1415 08be 835C subi r24,lo8(451) |
| 1416 08c0 9140 sbci r25,hi8(451) |
| 1417 08c2 28F0 brlo .L57 |
| 1418 08c4 8091 0000 lds r24,VersionInfo+5 |
| 1419 08c8 8061 ori r24,lo8(16) |
| 1420 08ca 8093 0000 sts VersionInfo+5,r24 |
| 1421 .L57: |
| 1422 08ce 8091 0000 lds r24,NeutralAccZ |
| 1423 08d2 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1424 08d6 8050 subi r24,lo8(-(-512)) |
| 1425 08d8 9240 sbci r25,hi8(-(-512)) |
| 1426 08da 8355 subi r24,lo8(339) |
| 1427 08dc 9140 sbci r25,hi8(339) |
| 1428 08de 28F0 brlo .L32 |
| 1429 08e0 8091 0000 lds r24,VersionInfo+5 |
| 1430 08e4 8062 ori r24,lo8(32) |
| 1431 08e6 8093 0000 sts VersionInfo+5,r24 |
| 1432 .L32: |
| 1433 /* epilogue: frame size=0 */ |
| 1434 08ea ECE0 ldi r30,12 |
| 1435 08ec CDB7 in r28,__SP_L__ |
| 1436 08ee DEB7 in r29,__SP_H__ |
| 1437 08f0 0C94 0000 jmp __epilogue_restores__+12 |
| 1438 /* epilogue end (size=5) */ |
| 1439 /* function SetNeutral size 697 (686) */ |
| 1441 .lcomm tmpl.32,4 |
| 1442 .lcomm tmpl2.33,4 |
| 1443 .lcomm tmpl3.34,4 |
| 1444 .lcomm tmpl4.35,4 |
| 1445 .lcomm oldNick.36,2 |
| 1446 .lcomm oldRoll.37,2 |
| 1447 .lcomm d2Roll.38,2 |
| 1448 .lcomm d2Nick.39,2 |
| 1449 .global Mittelwert |
| 1451 Mittelwert: |
| 1452 /* prologue: frame size=19 */ |
| 1453 08f4 A3E1 ldi r26,lo8(19) |
| 1454 08f6 B0E0 ldi r27,hi8(19) |
| 1455 08f8 E0E0 ldi r30,pm_lo8(1f) |
| 1456 08fa F0E0 ldi r31,pm_hi8(1f) |
| 1457 08fc 0C94 0000 jmp __prologue_saves__+0 |
| 1458 1: |
| 1459 /* prologue end (size=6) */ |
| 1460 0900 8091 0000 lds r24,AdNeutralGier |
| 1461 0904 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1462 0908 2091 0000 lds r18,AdWertGier |
| 1463 090c 3091 0000 lds r19,(AdWertGier)+1 |
| 1464 0910 821B sub r24,r18 |
| 1465 0912 930B sbc r25,r19 |
| 1466 0914 9093 0000 sts (MesswertGier)+1,r25 |
| 1467 0918 8093 0000 sts MesswertGier,r24 |
| 1468 091c 8091 0000 lds r24,AdWertNickFilter |
| 1469 0920 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1470 0924 97FD sbrc r25,7 |
| 1471 0926 0796 adiw r24,7 |
| 1472 .L64: |
| 1473 0928 9C01 movw r18,r24 |
| 1474 092a 53E0 ldi r21,3 |
| 1475 092c 3595 1: asr r19 |
| 1476 092e 2795 ror r18 |
| 1477 0930 5A95 dec r21 |
| 1478 0932 E1F7 brne 1b |
| 1479 0934 3093 0000 sts (MesswertNick)+1,r19 |
| 1480 0938 2093 0000 sts MesswertNick,r18 |
| 1481 093c 8091 0000 lds r24,AdWertRollFilter |
| 1482 0940 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1483 0944 97FD sbrc r25,7 |
| 1484 0946 0796 adiw r24,7 |
| 1485 .L65: |
| 1486 0948 43E0 ldi r20,3 |
| 1487 094a 9595 1: asr r25 |
| 1488 094c 8795 ror r24 |
| 1489 094e 4A95 dec r20 |
| 1490 0950 E1F7 brne 1b |
| 1491 0952 9093 0000 sts (MesswertRoll)+1,r25 |
| 1492 0956 8093 0000 sts MesswertRoll,r24 |
| 1493 095a 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1494 095e 2093 0000 sts RohMesswertNick,r18 |
| 1495 0962 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1496 0966 8093 0000 sts RohMesswertRoll,r24 |
| 1497 096a 8091 0000 lds r24,Mittelwert_AccNick |
| 1498 096e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1499 0972 AC01 movw r20,r24 |
| 1500 0974 440F lsl r20 |
| 1501 0976 551F rol r21 |
| 1502 0978 480F add r20,r24 |
| 1503 097a 591F adc r21,r25 |
| 1504 097c 2091 0000 lds r18,AdWertAccNick |
| 1505 0980 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1506 0984 C901 movw r24,r18 |
| 1507 0986 880F lsl r24 |
| 1508 0988 991F rol r25 |
| 1509 098a 880F lsl r24 |
| 1510 098c 991F rol r25 |
| 1511 098e 820F add r24,r18 |
| 1512 0990 931F adc r25,r19 |
| 1513 0992 820F add r24,r18 |
| 1514 0994 931F adc r25,r19 |
| 1515 0996 480F add r20,r24 |
| 1516 0998 591F adc r21,r25 |
| 1517 099a 57FF sbrs r21,7 |
| 1518 099c 02C0 rjmp .L66 |
| 1519 099e 4D5F subi r20,lo8(-(3)) |
| 1520 09a0 5F4F sbci r21,hi8(-(3)) |
| 1521 .L66: |
| 1522 09a2 5595 asr r21 |
| 1523 09a4 4795 ror r20 |
| 1524 09a6 5595 asr r21 |
| 1525 09a8 4795 ror r20 |
| 1526 09aa 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1527 09ae 4093 0000 sts Mittelwert_AccNick,r20 |
| 1528 09b2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1529 09b6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1530 09ba AC01 movw r20,r24 |
| 1531 09bc 440F lsl r20 |
| 1532 09be 551F rol r21 |
| 1533 09c0 480F add r20,r24 |
| 1534 09c2 591F adc r21,r25 |
| 1535 09c4 2091 0000 lds r18,AdWertAccRoll |
| 1536 09c8 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1537 09cc C901 movw r24,r18 |
| 1538 09ce 880F lsl r24 |
| 1539 09d0 991F rol r25 |
| 1540 09d2 880F lsl r24 |
| 1541 09d4 991F rol r25 |
| 1542 09d6 820F add r24,r18 |
| 1543 09d8 931F adc r25,r19 |
| 1544 09da 820F add r24,r18 |
| 1545 09dc 931F adc r25,r19 |
| 1546 09de 480F add r20,r24 |
| 1547 09e0 591F adc r21,r25 |
| 1548 09e2 57FF sbrs r21,7 |
| 1549 09e4 02C0 rjmp .L67 |
| 1550 09e6 4D5F subi r20,lo8(-(3)) |
| 1551 09e8 5F4F sbci r21,hi8(-(3)) |
| 1552 .L67: |
| 1553 09ea 5595 asr r21 |
| 1554 09ec 4795 ror r20 |
| 1555 09ee 5595 asr r21 |
| 1556 09f0 4795 ror r20 |
| 1557 09f2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1558 09f6 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1559 09fa 2091 0000 lds r18,AdWertAccNick |
| 1560 09fe 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1561 0a02 C901 movw r24,r18 |
| 1562 0a04 880F lsl r24 |
| 1563 0a06 991F rol r25 |
| 1564 0a08 880F lsl r24 |
| 1565 0a0a 991F rol r25 |
| 1566 0a0c 820F add r24,r18 |
| 1567 0a0e 931F adc r25,r19 |
| 1568 0a10 820F add r24,r18 |
| 1569 0a12 931F adc r25,r19 |
| 1570 0a14 9C01 movw r18,r24 |
| 1571 0a16 4427 clr r20 |
| 1572 0a18 37FD sbrc r19,7 |
| 1573 0a1a 4095 com r20 |
| 1574 0a1c 542F mov r21,r20 |
| 1575 0a1e 8091 0000 lds r24,IntegralAccNick |
| 1576 0a22 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1577 0a26 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1578 0a2a B091 0000 lds r27,(IntegralAccNick)+3 |
| 1579 0a2e 820F add r24,r18 |
| 1580 0a30 931F adc r25,r19 |
| 1581 0a32 A41F adc r26,r20 |
| 1582 0a34 B51F adc r27,r21 |
| 1583 0a36 8093 0000 sts IntegralAccNick,r24 |
| 1584 0a3a 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1585 0a3e A093 0000 sts (IntegralAccNick)+2,r26 |
| 1586 0a42 B093 0000 sts (IntegralAccNick)+3,r27 |
| 1587 0a46 2091 0000 lds r18,AdWertAccRoll |
| 1588 0a4a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1589 0a4e C901 movw r24,r18 |
| 1590 0a50 880F lsl r24 |
| 1591 0a52 991F rol r25 |
| 1592 0a54 880F lsl r24 |
| 1593 0a56 991F rol r25 |
| 1594 0a58 820F add r24,r18 |
| 1595 0a5a 931F adc r25,r19 |
| 1596 0a5c 820F add r24,r18 |
| 1597 0a5e 931F adc r25,r19 |
| 1598 0a60 9C01 movw r18,r24 |
| 1599 0a62 4427 clr r20 |
| 1600 0a64 37FD sbrc r19,7 |
| 1601 0a66 4095 com r20 |
| 1602 0a68 542F mov r21,r20 |
| 1603 0a6a 8091 0000 lds r24,IntegralAccRoll |
| 1604 0a6e 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1605 0a72 A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1606 0a76 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1607 0a7a 820F add r24,r18 |
| 1608 0a7c 931F adc r25,r19 |
| 1609 0a7e A41F adc r26,r20 |
| 1610 0a80 B51F adc r27,r21 |
| 1611 0a82 8093 0000 sts IntegralAccRoll,r24 |
| 1612 0a86 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1613 0a8a A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1614 0a8e B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1615 0a92 8091 0000 lds r24,NaviAccNick |
| 1616 0a96 9091 0000 lds r25,(NaviAccNick)+1 |
| 1617 0a9a 2091 0000 lds r18,AdWertAccNick |
| 1618 0a9e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1619 0aa2 820F add r24,r18 |
| 1620 0aa4 931F adc r25,r19 |
| 1621 0aa6 9093 0000 sts (NaviAccNick)+1,r25 |
| 1622 0aaa 8093 0000 sts NaviAccNick,r24 |
| 1623 0aae 8091 0000 lds r24,NaviAccRoll |
| 1624 0ab2 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1625 0ab6 2091 0000 lds r18,AdWertAccRoll |
| 1626 0aba 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1627 0abe 820F add r24,r18 |
| 1628 0ac0 931F adc r25,r19 |
| 1629 0ac2 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1630 0ac6 8093 0000 sts NaviAccRoll,r24 |
| 1631 0aca 8091 0000 lds r24,NaviCntAcc |
| 1632 0ace 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1633 0ad2 0196 adiw r24,1 |
| 1634 0ad4 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1635 0ad8 8093 0000 sts NaviCntAcc,r24 |
| 1636 0adc 8091 0000 lds r24,Aktuell_az |
| 1637 0ae0 9091 0000 lds r25,(Aktuell_az)+1 |
| 1638 0ae4 2091 0000 lds r18,NeutralAccZ |
| 1639 0ae8 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1640 0aec 821B sub r24,r18 |
| 1641 0aee 930B sbc r25,r19 |
| 1642 0af0 9C01 movw r18,r24 |
| 1643 0af2 4427 clr r20 |
| 1644 0af4 37FD sbrc r19,7 |
| 1645 0af6 4095 com r20 |
| 1646 0af8 542F mov r21,r20 |
| 1647 0afa 8091 0000 lds r24,IntegralAccZ |
| 1648 0afe 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1649 0b02 A091 0000 lds r26,(IntegralAccZ)+2 |
| 1650 0b06 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1651 0b0a 820F add r24,r18 |
| 1652 0b0c 931F adc r25,r19 |
| 1653 0b0e A41F adc r26,r20 |
| 1654 0b10 B51F adc r27,r21 |
| 1655 0b12 8093 0000 sts IntegralAccZ,r24 |
| 1656 0b16 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1657 0b1a A093 0000 sts (IntegralAccZ)+2,r26 |
| 1658 0b1e B093 0000 sts (IntegralAccZ)+3,r27 |
| 1659 0b22 8FEC ldi r24,lo8(-49) |
| 1660 0b24 8093 7A00 sts 122,r24 |
| 1661 0b28 1092 0000 sts AdReady,__zero_reg__ |
| 1662 0b2c 2091 0000 lds r18,Mess_IntegralRoll |
| 1663 0b30 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1664 0b34 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1665 0b38 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1666 0b3c 2987 std Y+9,r18 |
| 1667 0b3e 3A87 std Y+10,r19 |
| 1668 0b40 4B87 std Y+11,r20 |
| 1669 0b42 5C87 std Y+12,r21 |
| 1670 0b44 2954 subi r18,lo8(93001) |
| 1671 0b46 3B46 sbci r19,hi8(93001) |
| 1672 0b48 4140 sbci r20,hlo8(93001) |
| 1673 0b4a 5040 sbci r21,hhi8(93001) |
| 1674 0b4c 2CF0 brlt .L68 |
| 1675 0b4e 28E4 ldi r18,lo8(93000) |
| 1676 0b50 3BE6 ldi r19,hi8(93000) |
| 1677 0b52 41E0 ldi r20,hlo8(93000) |
| 1678 0b54 50E0 ldi r21,hhi8(93000) |
| 1679 0b56 0DC0 rjmp .L161 |
| 1680 .L68: |
| 1681 0b58 8985 ldd r24,Y+9 |
| 1682 0b5a 9A85 ldd r25,Y+10 |
| 1683 0b5c AB85 ldd r26,Y+11 |
| 1684 0b5e BC85 ldd r27,Y+12 |
| 1685 0b60 885B subi r24,lo8(-93000) |
| 1686 0b62 9449 sbci r25,hi8(-93000) |
| 1687 0b64 AE4F sbci r26,hlo8(-93000) |
| 1688 0b66 BF4F sbci r27,hhi8(-93000) |
| 1689 0b68 4CF4 brge .L70 |
| 1690 0b6a 28EB ldi r18,lo8(-93000) |
| 1691 0b6c 34E9 ldi r19,hi8(-93000) |
| 1692 0b6e 4EEF ldi r20,hlo8(-93000) |
| 1693 0b70 5FEF ldi r21,hhi8(-93000) |
| 1694 .L161: |
| 1695 0b72 2D83 std Y+5,r18 |
| 1696 0b74 3E83 std Y+6,r19 |
| 1697 0b76 4F83 std Y+7,r20 |
| 1698 0b78 5887 std Y+8,r21 |
| 1699 0b7a 08C0 rjmp .L69 |
| 1700 .L70: |
| 1701 0b7c 8985 ldd r24,Y+9 |
| 1702 0b7e 9A85 ldd r25,Y+10 |
| 1703 0b80 AB85 ldd r26,Y+11 |
| 1704 0b82 BC85 ldd r27,Y+12 |
| 1705 0b84 8D83 std Y+5,r24 |
| 1706 0b86 9E83 std Y+6,r25 |
| 1707 0b88 AF83 std Y+7,r26 |
| 1708 0b8a B887 std Y+8,r27 |
| 1709 .L69: |
| 1710 0b8c 2091 0000 lds r18,Mess_IntegralNick |
| 1711 0b90 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1712 0b94 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1713 0b98 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1714 0b9c 2D87 std Y+13,r18 |
| 1715 0b9e 3E87 std Y+14,r19 |
| 1716 0ba0 4F87 std Y+15,r20 |
| 1717 0ba2 588B std Y+16,r21 |
| 1718 0ba4 2954 subi r18,lo8(93001) |
| 1719 0ba6 3B46 sbci r19,hi8(93001) |
| 1720 0ba8 4140 sbci r20,hlo8(93001) |
| 1721 0baa 5040 sbci r21,hhi8(93001) |
| 1722 0bac 2CF0 brlt .L72 |
| 1723 0bae 28E4 ldi r18,lo8(93000) |
| 1724 0bb0 3BE6 ldi r19,hi8(93000) |
| 1725 0bb2 41E0 ldi r20,hlo8(93000) |
| 1726 0bb4 50E0 ldi r21,hhi8(93000) |
| 1727 0bb6 0DC0 rjmp .L162 |
| 1728 .L72: |
| 1729 0bb8 8D85 ldd r24,Y+13 |
| 1730 0bba 9E85 ldd r25,Y+14 |
| 1731 0bbc AF85 ldd r26,Y+15 |
| 1732 0bbe B889 ldd r27,Y+16 |
| 1733 0bc0 885B subi r24,lo8(-93000) |
| 1734 0bc2 9449 sbci r25,hi8(-93000) |
| 1735 0bc4 AE4F sbci r26,hlo8(-93000) |
| 1736 0bc6 BF4F sbci r27,hhi8(-93000) |
| 1737 0bc8 4CF4 brge .L74 |
| 1738 0bca 28EB ldi r18,lo8(-93000) |
| 1739 0bcc 34E9 ldi r19,hi8(-93000) |
| 1740 0bce 4EEF ldi r20,hlo8(-93000) |
| 1741 0bd0 5FEF ldi r21,hhi8(-93000) |
| 1742 .L162: |
| 1743 0bd2 2983 std Y+1,r18 |
| 1744 0bd4 3A83 std Y+2,r19 |
| 1745 0bd6 4B83 std Y+3,r20 |
| 1746 0bd8 5C83 std Y+4,r21 |
| 1747 0bda 08C0 rjmp .L73 |
| 1748 .L74: |
| 1749 0bdc 8D85 ldd r24,Y+13 |
| 1750 0bde 9E85 ldd r25,Y+14 |
| 1751 0be0 AF85 ldd r26,Y+15 |
| 1752 0be2 B889 ldd r27,Y+16 |
| 1753 0be4 8983 std Y+1,r24 |
| 1754 0be6 9A83 std Y+2,r25 |
| 1755 0be8 AB83 std Y+3,r26 |
| 1756 0bea BC83 std Y+4,r27 |
| 1757 .L73: |
| 1758 0bec A091 0000 lds r26,MesswertGier |
| 1759 0bf0 B091 0000 lds r27,(MesswertGier)+1 |
| 1760 0bf4 BB8B std Y+19,r27 |
| 1761 0bf6 AA8B std Y+18,r26 |
| 1762 0bf8 FD01 movw r30,r26 |
| 1763 0bfa CF01 movw r24,r30 |
| 1764 0bfc AA27 clr r26 |
| 1765 0bfe 97FD sbrc r25,7 |
| 1766 0c00 A095 com r26 |
| 1767 0c02 BA2F mov r27,r26 |
| 1768 0c04 A090 0000 lds r10,Mess_Integral_Gier |
| 1769 0c08 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1770 0c0c C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1771 0c10 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1772 0c14 A80E add r10,r24 |
| 1773 0c16 B91E adc r11,r25 |
| 1774 0c18 CA1E adc r12,r26 |
| 1775 0c1a DB1E adc r13,r27 |
| 1776 0c1c A092 0000 sts Mess_Integral_Gier,r10 |
| 1777 0c20 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1778 0c24 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1779 0c28 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1780 0c2c E090 0000 lds r14,ErsatzKompass |
| 1781 0c30 F090 0000 lds r15,(ErsatzKompass)+1 |
| 1782 0c34 0091 0000 lds r16,(ErsatzKompass)+2 |
| 1783 0c38 1091 0000 lds r17,(ErsatzKompass)+3 |
| 1784 0c3c E80E add r14,r24 |
| 1785 0c3e F91E adc r15,r25 |
| 1786 0c40 0A1F adc r16,r26 |
| 1787 0c42 1B1F adc r17,r27 |
| 1788 0c44 E092 0000 sts ErsatzKompass,r14 |
| 1789 0c48 F092 0000 sts (ErsatzKompass)+1,r15 |
| 1790 0c4c 0093 0000 sts (ErsatzKompass)+2,r16 |
| 1791 0c50 1093 0000 sts (ErsatzKompass)+3,r17 |
| 1792 0c54 F091 0000 lds r31,Looping_Nick |
| 1793 0c58 F98B std Y+17,r31 |
| 1794 0c5a FF23 tst r31 |
| 1795 0c5c 09F0 breq .+2 |
| 1796 0c5e 98C1 rjmp .L76 |
| 1797 0c60 8091 0000 lds r24,Looping_Roll |
| 1798 0c64 8823 tst r24 |
| 1799 0c66 09F0 breq .+2 |
| 1800 0c68 93C1 rjmp .L76 |
| 1801 0c6a 8091 0000 lds r24,EE_Parameter+13 |
| 1802 0c6e 86FF sbrs r24,6 |
| 1803 0c70 8FC1 rjmp .L76 |
| 1804 0c72 8091 0000 lds r24,MesswertRoll |
| 1805 0c76 9091 0000 lds r25,(MesswertRoll)+1 |
| 1806 0c7a AA27 clr r26 |
| 1807 0c7c 97FD sbrc r25,7 |
| 1808 0c7e A095 com r26 |
| 1809 0c80 BA2F mov r27,r26 |
| 1810 0c82 BC01 movw r22,r24 |
| 1811 0c84 CD01 movw r24,r26 |
| 1812 0c86 2981 ldd r18,Y+1 |
| 1813 0c88 3A81 ldd r19,Y+2 |
| 1814 0c8a 4B81 ldd r20,Y+3 |
| 1815 0c8c 5C81 ldd r21,Y+4 |
| 1816 0c8e 0E94 0000 call __mulsi3 |
| 1817 0c92 9B01 movw r18,r22 |
| 1818 0c94 AC01 movw r20,r24 |
| 1819 0c96 97FF sbrs r25,7 |
| 1820 0c98 04C0 rjmp .L77 |
| 1821 0c9a 2150 subi r18,lo8(-(2047)) |
| 1822 0c9c 384F sbci r19,hi8(-(2047)) |
| 1823 0c9e 4F4F sbci r20,hlo8(-(2047)) |
| 1824 0ca0 5F4F sbci r21,hhi8(-(2047)) |
| 1825 .L77: |
| 1826 0ca2 6BE0 ldi r22,11 |
| 1827 0ca4 5595 1: asr r21 |
| 1828 0ca6 4795 ror r20 |
| 1829 0ca8 3795 ror r19 |
| 1830 0caa 2795 ror r18 |
| 1831 0cac 6A95 dec r22 |
| 1832 0cae D1F7 brne 1b |
| 1833 0cb0 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 1834 0cb4 682E mov r6,r24 |
| 1835 0cb6 7724 clr r7 |
| 1836 0cb8 8824 clr r8 |
| 1837 0cba 9924 clr r9 |
| 1838 0cbc CA01 movw r24,r20 |
| 1839 0cbe B901 movw r22,r18 |
| 1840 0cc0 A401 movw r20,r8 |
| 1841 0cc2 9301 movw r18,r6 |
| 1842 0cc4 0E94 0000 call __mulsi3 |
| 1843 0cc8 DC01 movw r26,r24 |
| 1844 0cca CB01 movw r24,r22 |
| 1845 0ccc 8093 0000 sts tmpl3.34,r24 |
| 1846 0cd0 9093 0000 sts (tmpl3.34)+1,r25 |
| 1847 0cd4 A093 0000 sts (tmpl3.34)+2,r26 |
| 1848 0cd8 B093 0000 sts (tmpl3.34)+3,r27 |
| 1849 0cdc B7FF sbrs r27,7 |
| 1850 0cde 04C0 rjmp .L78 |
| 1851 0ce0 8150 subi r24,lo8(-(4095)) |
| 1852 0ce2 904F sbci r25,hi8(-(4095)) |
| 1853 0ce4 AF4F sbci r26,hlo8(-(4095)) |
| 1854 0ce6 BF4F sbci r27,hhi8(-(4095)) |
| 1855 .L78: |
| 1856 0ce8 1C01 movw r2,r24 |
| 1857 0cea 2D01 movw r4,r26 |
| 1858 0cec 3CE0 ldi r19,12 |
| 1859 0cee 5594 1: asr r5 |
| 1860 0cf0 4794 ror r4 |
| 1861 0cf2 3794 ror r3 |
| 1862 0cf4 2794 ror r2 |
| 1863 0cf6 3A95 dec r19 |
| 1864 0cf8 D1F7 brne 1b |
| 1865 0cfa 2092 0000 sts tmpl3.34,r2 |
| 1866 0cfe 3092 0000 sts (tmpl3.34)+1,r3 |
| 1867 0d02 4092 0000 sts (tmpl3.34)+2,r4 |
| 1868 0d06 5092 0000 sts (tmpl3.34)+3,r5 |
| 1869 0d0a 8091 0000 lds r24,MesswertNick |
| 1870 0d0e 9091 0000 lds r25,(MesswertNick)+1 |
| 1871 0d12 AA27 clr r26 |
| 1872 0d14 97FD sbrc r25,7 |
| 1873 0d16 A095 com r26 |
| 1874 0d18 BA2F mov r27,r26 |
| 1875 0d1a BC01 movw r22,r24 |
| 1876 0d1c CD01 movw r24,r26 |
| 1877 0d1e 2D81 ldd r18,Y+5 |
| 1878 0d20 3E81 ldd r19,Y+6 |
| 1879 0d22 4F81 ldd r20,Y+7 |
| 1880 0d24 5885 ldd r21,Y+8 |
| 1881 0d26 0E94 0000 call __mulsi3 |
| 1882 0d2a 97FF sbrs r25,7 |
| 1883 0d2c 04C0 rjmp .L79 |
| 1884 0d2e 6150 subi r22,lo8(-(2047)) |
| 1885 0d30 784F sbci r23,hi8(-(2047)) |
| 1886 0d32 8F4F sbci r24,hlo8(-(2047)) |
| 1887 0d34 9F4F sbci r25,hhi8(-(2047)) |
| 1888 .L79: |
| 1889 0d36 2BE0 ldi r18,11 |
| 1890 0d38 9595 1: asr r25 |
| 1891 0d3a 8795 ror r24 |
| 1892 0d3c 7795 ror r23 |
| 1893 0d3e 6795 ror r22 |
| 1894 0d40 2A95 dec r18 |
| 1895 0d42 D1F7 brne 1b |
| 1896 0d44 A401 movw r20,r8 |
| 1897 0d46 9301 movw r18,r6 |
| 1898 0d48 0E94 0000 call __mulsi3 |
| 1899 0d4c DC01 movw r26,r24 |
| 1900 0d4e CB01 movw r24,r22 |
| 1901 0d50 8093 0000 sts tmpl4.35,r24 |
| 1902 0d54 9093 0000 sts (tmpl4.35)+1,r25 |
| 1903 0d58 A093 0000 sts (tmpl4.35)+2,r26 |
| 1904 0d5c B093 0000 sts (tmpl4.35)+3,r27 |
| 1905 0d60 B7FF sbrs r27,7 |
| 1906 0d62 04C0 rjmp .L80 |
| 1907 0d64 8150 subi r24,lo8(-(4095)) |
| 1908 0d66 904F sbci r25,hi8(-(4095)) |
| 1909 0d68 AF4F sbci r26,hlo8(-(4095)) |
| 1910 0d6a BF4F sbci r27,hhi8(-(4095)) |
| 1911 .L80: |
| 1912 0d6c 9C01 movw r18,r24 |
| 1913 0d6e AD01 movw r20,r26 |
| 1914 0d70 8CE0 ldi r24,12 |
| 1915 0d72 5595 1: asr r21 |
| 1916 0d74 4795 ror r20 |
| 1917 0d76 3795 ror r19 |
| 1918 0d78 2795 ror r18 |
| 1919 0d7a 8A95 dec r24 |
| 1920 0d7c D1F7 brne 1b |
| 1921 0d7e 2093 0000 sts tmpl4.35,r18 |
| 1922 0d82 3093 0000 sts (tmpl4.35)+1,r19 |
| 1923 0d86 4093 0000 sts (tmpl4.35)+2,r20 |
| 1924 0d8a 5093 0000 sts (tmpl4.35)+3,r21 |
| 1925 0d8e 8091 0000 lds r24,tmpl3.34 |
| 1926 0d92 9091 0000 lds r25,(tmpl3.34)+1 |
| 1927 0d96 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 1928 0d9a 8093 0000 sts KopplungsteilNickRoll,r24 |
| 1929 0d9e 8091 0000 lds r24,tmpl4.35 |
| 1930 0da2 9091 0000 lds r25,(tmpl4.35)+1 |
| 1931 0da6 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 1932 0daa 8093 0000 sts KopplungsteilRollNick,r24 |
| 1933 0dae 2219 sub r18,r2 |
| 1934 0db0 3309 sbc r19,r3 |
| 1935 0db2 4409 sbc r20,r4 |
| 1936 0db4 5509 sbc r21,r5 |
| 1937 0db6 2093 0000 sts tmpl4.35,r18 |
| 1938 0dba 3093 0000 sts (tmpl4.35)+1,r19 |
| 1939 0dbe 4093 0000 sts (tmpl4.35)+2,r20 |
| 1940 0dc2 5093 0000 sts (tmpl4.35)+3,r21 |
| 1941 0dc6 E20E add r14,r18 |
| 1942 0dc8 F31E adc r15,r19 |
| 1943 0dca 041F adc r16,r20 |
| 1944 0dcc 151F adc r17,r21 |
| 1945 0dce E092 0000 sts ErsatzKompass,r14 |
| 1946 0dd2 F092 0000 sts (ErsatzKompass)+1,r15 |
| 1947 0dd6 0093 0000 sts (ErsatzKompass)+2,r16 |
| 1948 0dda 1093 0000 sts (ErsatzKompass)+3,r17 |
| 1949 0dde 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 1950 0de2 8823 tst r24 |
| 1951 0de4 B1F4 brne .L81 |
| 1952 0de6 57FF sbrs r21,7 |
| 1953 0de8 04C0 rjmp .L82 |
| 1954 0dea 2F5F subi r18,lo8(-(1)) |
| 1955 0dec 3F4F sbci r19,hi8(-(1)) |
| 1956 0dee 4F4F sbci r20,hlo8(-(1)) |
| 1957 0df0 5F4F sbci r21,hhi8(-(1)) |
| 1958 .L82: |
| 1959 0df2 5595 asr r21 |
| 1960 0df4 4795 ror r20 |
| 1961 0df6 3795 ror r19 |
| 1962 0df8 2795 ror r18 |
| 1963 0dfa A21A sub r10,r18 |
| 1964 0dfc B30A sbc r11,r19 |
| 1965 0dfe C40A sbc r12,r20 |
| 1966 0e00 D50A sbc r13,r21 |
| 1967 0e02 A092 0000 sts Mess_Integral_Gier,r10 |
| 1968 0e06 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1969 0e0a C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1970 0e0e D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1971 .L81: |
| 1972 0e12 2A89 ldd r18,Y+18 |
| 1973 0e14 3B89 ldd r19,Y+19 |
| 1974 0e16 7901 movw r14,r18 |
| 1975 0e18 0027 clr r16 |
| 1976 0e1a F7FC sbrc r15,7 |
| 1977 0e1c 0095 com r16 |
| 1978 0e1e 102F mov r17,r16 |
| 1979 0e20 8091 0000 lds r24,tmpl4.35 |
| 1980 0e24 9091 0000 lds r25,(tmpl4.35)+1 |
| 1981 0e28 A091 0000 lds r26,(tmpl4.35)+2 |
| 1982 0e2c B091 0000 lds r27,(tmpl4.35)+3 |
| 1983 0e30 E80E add r14,r24 |
| 1984 0e32 F91E adc r15,r25 |
| 1985 0e34 0A1F adc r16,r26 |
| 1986 0e36 1B1F adc r17,r27 |
| 1987 0e38 C801 movw r24,r16 |
| 1988 0e3a B701 movw r22,r14 |
| 1989 0e3c 2981 ldd r18,Y+1 |
| 1990 0e3e 3A81 ldd r19,Y+2 |
| 1991 0e40 4B81 ldd r20,Y+3 |
| 1992 0e42 5C81 ldd r21,Y+4 |
| 1993 0e44 0E94 0000 call __mulsi3 |
| 1994 0e48 9B01 movw r18,r22 |
| 1995 0e4a AC01 movw r20,r24 |
| 1996 0e4c 97FF sbrs r25,7 |
| 1997 0e4e 04C0 rjmp .L83 |
| 1998 0e50 2150 subi r18,lo8(-(2047)) |
| 1999 0e52 384F sbci r19,hi8(-(2047)) |
| 2000 0e54 4F4F sbci r20,hlo8(-(2047)) |
| 2001 0e56 5F4F sbci r21,hhi8(-(2047)) |
| 2002 .L83: |
| 2003 0e58 BBE0 ldi r27,11 |
| 2004 0e5a 5595 1: asr r21 |
| 2005 0e5c 4795 ror r20 |
| 2006 0e5e 3795 ror r19 |
| 2007 0e60 2795 ror r18 |
| 2008 0e62 BA95 dec r27 |
| 2009 0e64 D1F7 brne 1b |
| 2010 0e66 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2011 0e6a A82E mov r10,r24 |
| 2012 0e6c BB24 clr r11 |
| 2013 0e6e CC24 clr r12 |
| 2014 0e70 DD24 clr r13 |
| 2015 0e72 CA01 movw r24,r20 |
| 2016 0e74 B901 movw r22,r18 |
| 2017 0e76 A601 movw r20,r12 |
| 2018 0e78 9501 movw r18,r10 |
| 2019 0e7a 0E94 0000 call __mulsi3 |
| 2020 0e7e DC01 movw r26,r24 |
| 2021 0e80 CB01 movw r24,r22 |
| 2022 0e82 8093 0000 sts tmpl.32,r24 |
| 2023 0e86 9093 0000 sts (tmpl.32)+1,r25 |
| 2024 0e8a A093 0000 sts (tmpl.32)+2,r26 |
| 2025 0e8e B093 0000 sts (tmpl.32)+3,r27 |
| 2026 0e92 B7FF sbrs r27,7 |
| 2027 0e94 04C0 rjmp .L84 |
| 2028 0e96 8150 subi r24,lo8(-(4095)) |
| 2029 0e98 904F sbci r25,hi8(-(4095)) |
| 2030 0e9a AF4F sbci r26,hlo8(-(4095)) |
| 2031 0e9c BF4F sbci r27,hhi8(-(4095)) |
| 2032 .L84: |
| 2033 0e9e 3C01 movw r6,r24 |
| 2034 0ea0 4D01 movw r8,r26 |
| 2035 0ea2 ACE0 ldi r26,12 |
| 2036 0ea4 9594 1: asr r9 |
| 2037 0ea6 8794 ror r8 |
| 2038 0ea8 7794 ror r7 |
| 2039 0eaa 6794 ror r6 |
| 2040 0eac AA95 dec r26 |
| 2041 0eae D1F7 brne 1b |
| 2042 0eb0 6092 0000 sts tmpl.32,r6 |
| 2043 0eb4 7092 0000 sts (tmpl.32)+1,r7 |
| 2044 0eb8 8092 0000 sts (tmpl.32)+2,r8 |
| 2045 0ebc 9092 0000 sts (tmpl.32)+3,r9 |
| 2046 0ec0 C801 movw r24,r16 |
| 2047 0ec2 B701 movw r22,r14 |
| 2048 0ec4 2D81 ldd r18,Y+5 |
| 2049 0ec6 3E81 ldd r19,Y+6 |
| 2050 0ec8 4F81 ldd r20,Y+7 |
| 2051 0eca 5885 ldd r21,Y+8 |
| 2052 0ecc 0E94 0000 call __mulsi3 |
| 2053 0ed0 97FF sbrs r25,7 |
| 2054 0ed2 04C0 rjmp .L85 |
| 2055 0ed4 6150 subi r22,lo8(-(2047)) |
| 2056 0ed6 784F sbci r23,hi8(-(2047)) |
| 2057 0ed8 8F4F sbci r24,hlo8(-(2047)) |
| 2058 0eda 9F4F sbci r25,hhi8(-(2047)) |
| 2059 .L85: |
| 2060 0edc FBE0 ldi r31,11 |
| 2061 0ede 9595 1: asr r25 |
| 2062 0ee0 8795 ror r24 |
| 2063 0ee2 7795 ror r23 |
| 2064 0ee4 6795 ror r22 |
| 2065 0ee6 FA95 dec r31 |
| 2066 0ee8 D1F7 brne 1b |
| 2067 0eea A601 movw r20,r12 |
| 2068 0eec 9501 movw r18,r10 |
| 2069 0eee 0E94 0000 call __mulsi3 |
| 2070 0ef2 DC01 movw r26,r24 |
| 2071 0ef4 CB01 movw r24,r22 |
| 2072 0ef6 8093 0000 sts tmpl2.33,r24 |
| 2073 0efa 9093 0000 sts (tmpl2.33)+1,r25 |
| 2074 0efe A093 0000 sts (tmpl2.33)+2,r26 |
| 2075 0f02 B093 0000 sts (tmpl2.33)+3,r27 |
| 2076 0f06 B7FF sbrs r27,7 |
| 2077 0f08 04C0 rjmp .L86 |
| 2078 0f0a 8150 subi r24,lo8(-(4095)) |
| 2079 0f0c 904F sbci r25,hi8(-(4095)) |
| 2080 0f0e AF4F sbci r26,hlo8(-(4095)) |
| 2081 0f10 BF4F sbci r27,hhi8(-(4095)) |
| 2082 .L86: |
| 2083 0f12 AC01 movw r20,r24 |
| 2084 0f14 BD01 movw r22,r26 |
| 2085 0f16 ECE0 ldi r30,12 |
| 2086 0f18 7595 1: asr r23 |
| 2087 0f1a 6795 ror r22 |
| 2088 0f1c 5795 ror r21 |
| 2089 0f1e 4795 ror r20 |
| 2090 0f20 EA95 dec r30 |
| 2091 0f22 D1F7 brne 1b |
| 2092 0f24 4093 0000 sts tmpl2.33,r20 |
| 2093 0f28 5093 0000 sts (tmpl2.33)+1,r21 |
| 2094 0f2c 6093 0000 sts (tmpl2.33)+2,r22 |
| 2095 0f30 7093 0000 sts (tmpl2.33)+3,r23 |
| 2096 0f34 2A89 ldd r18,Y+18 |
| 2097 0f36 3B89 ldd r19,Y+19 |
| 2098 0f38 37FF sbrs r19,7 |
| 2099 0f3a 03C0 rjmp .L88 |
| 2100 0f3c 3095 com r19 |
| 2101 0f3e 2195 neg r18 |
| 2102 0f40 3F4F sbci r19,lo8(-1) |
| 2103 .L88: |
| 2104 0f42 2134 cpi r18,65 |
| 2105 0f44 3105 cpc r19,__zero_reg__ |
| 2106 0f46 E4F1 brlt .L93 |
| 2107 0f48 D401 movw r26,r8 |
| 2108 0f4a C301 movw r24,r6 |
| 2109 0f4c 97FE sbrs r9,7 |
| 2110 0f4e 07C0 rjmp .L91 |
| 2111 0f50 B095 com r27 |
| 2112 0f52 A095 com r26 |
| 2113 0f54 9095 com r25 |
| 2114 0f56 8195 neg r24 |
| 2115 0f58 9F4F sbci r25,lo8(-1) |
| 2116 0f5a AF4F sbci r26,lo8(-1) |
| 2117 0f5c BF4F sbci r27,lo8(-1) |
| 2118 .L91: |
| 2119 0f5e 8138 cpi r24,lo8(129) |
| 2120 0f60 9105 cpc r25,__zero_reg__ |
| 2121 0f62 A105 cpc r26,__zero_reg__ |
| 2122 0f64 B105 cpc r27,__zero_reg__ |
| 2123 0f66 84F4 brge .L90 |
| 2124 0f68 DB01 movw r26,r22 |
| 2125 0f6a CA01 movw r24,r20 |
| 2126 0f6c 77FF sbrs r23,7 |
| 2127 0f6e 07C0 rjmp .L92 |
| 2128 0f70 B095 com r27 |
| 2129 0f72 A095 com r26 |
| 2130 0f74 9095 com r25 |
| 2131 0f76 8195 neg r24 |
| 2132 0f78 9F4F sbci r25,lo8(-1) |
| 2133 0f7a AF4F sbci r26,lo8(-1) |
| 2134 0f7c BF4F sbci r27,lo8(-1) |
| 2135 .L92: |
| 2136 0f7e 8138 cpi r24,lo8(129) |
| 2137 0f80 9105 cpc r25,__zero_reg__ |
| 2138 0f82 A105 cpc r26,__zero_reg__ |
| 2139 0f84 B105 cpc r27,__zero_reg__ |
| 2140 0f86 E4F0 brlt .L93 |
| 2141 .L90: |
| 2142 0f88 81E0 ldi r24,lo8(1) |
| 2143 0f8a 8093 0000 sts TrichterFlug,r24 |
| 2144 0f8e 18C0 rjmp .L93 |
| 2145 .L76: |
| 2146 0f90 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2147 0f94 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2148 0f98 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2149 0f9c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2150 0fa0 1092 0000 sts tmpl2.33,__zero_reg__ |
| 2151 0fa4 1092 0000 sts (tmpl2.33)+1,__zero_reg__ |
| 2152 0fa8 1092 0000 sts (tmpl2.33)+2,__zero_reg__ |
| 2153 0fac 1092 0000 sts (tmpl2.33)+3,__zero_reg__ |
| 2154 0fb0 1092 0000 sts tmpl.32,__zero_reg__ |
| 2155 0fb4 1092 0000 sts (tmpl.32)+1,__zero_reg__ |
| 2156 0fb8 1092 0000 sts (tmpl.32)+2,__zero_reg__ |
| 2157 0fbc 1092 0000 sts (tmpl.32)+3,__zero_reg__ |
| 2158 .L93: |
| 2159 0fc0 8091 0000 lds r24,tmpl2.33 |
| 2160 0fc4 9091 0000 lds r25,(tmpl2.33)+1 |
| 2161 0fc8 A091 0000 lds r26,(tmpl2.33)+2 |
| 2162 0fcc B091 0000 lds r27,(tmpl2.33)+3 |
| 2163 0fd0 BC01 movw r22,r24 |
| 2164 0fd2 CD01 movw r24,r26 |
| 2165 0fd4 24E6 ldi r18,lo8(100) |
| 2166 0fd6 30E0 ldi r19,hi8(100) |
| 2167 0fd8 40E0 ldi r20,hlo8(100) |
| 2168 0fda 50E0 ldi r21,hhi8(100) |
| 2169 0fdc 0E94 0000 call __divmodsi4 |
| 2170 0fe0 E090 0000 lds r14,tmpl.32 |
| 2171 0fe4 F090 0000 lds r15,(tmpl.32)+1 |
| 2172 0fe8 E21A sub r14,r18 |
| 2173 0fea F30A sbc r15,r19 |
| 2174 0fec F092 0000 sts (TrimRoll)+1,r15 |
| 2175 0ff0 E092 0000 sts TrimRoll,r14 |
| 2176 0ff4 8091 0000 lds r24,tmpl.32 |
| 2177 0ff8 9091 0000 lds r25,(tmpl.32)+1 |
| 2178 0ffc A091 0000 lds r26,(tmpl.32)+2 |
| 2179 1000 B091 0000 lds r27,(tmpl.32)+3 |
| 2180 1004 BC01 movw r22,r24 |
| 2181 1006 CD01 movw r24,r26 |
| 2182 1008 24E6 ldi r18,lo8(100) |
| 2183 100a 30E0 ldi r19,hi8(100) |
| 2184 100c 40E0 ldi r20,hlo8(100) |
| 2185 100e 50E0 ldi r21,hhi8(100) |
| 2186 1010 0E94 0000 call __divmodsi4 |
| 2187 1014 DA01 movw r26,r20 |
| 2188 1016 C901 movw r24,r18 |
| 2189 1018 2091 0000 lds r18,tmpl2.33 |
| 2190 101c 3091 0000 lds r19,(tmpl2.33)+1 |
| 2191 1020 8C01 movw r16,r24 |
| 2192 1022 021B sub r16,r18 |
| 2193 1024 130B sbc r17,r19 |
| 2194 1026 1093 0000 sts (TrimNick)+1,r17 |
| 2195 102a 0093 0000 sts TrimNick,r16 |
| 2196 102e 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2197 1032 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2198 1036 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2199 103a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2200 103e BC01 movw r22,r24 |
| 2201 1040 CD01 movw r24,r26 |
| 2202 1042 28E6 ldi r18,lo8(360) |
| 2203 1044 31E0 ldi r19,hi8(360) |
| 2204 1046 40E0 ldi r20,hlo8(360) |
| 2205 1048 50E0 ldi r21,hhi8(360) |
| 2206 104a 0E94 0000 call __mulsi3 |
| 2207 104e 2091 0000 lds r18,ErsatzKompass |
| 2208 1052 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2209 1056 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2210 105a 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2211 105e 2617 cp r18,r22 |
| 2212 1060 3707 cpc r19,r23 |
| 2213 1062 4807 cpc r20,r24 |
| 2214 1064 5907 cpc r21,r25 |
| 2215 1066 64F0 brlt .L94 |
| 2216 1068 261B sub r18,r22 |
| 2217 106a 370B sbc r19,r23 |
| 2218 106c 480B sbc r20,r24 |
| 2219 106e 590B sbc r21,r25 |
| 2220 1070 2093 0000 sts ErsatzKompass,r18 |
| 2221 1074 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2222 1078 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2223 107c 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2224 .L94: |
| 2225 1080 2091 0000 lds r18,ErsatzKompass |
| 2226 1084 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2227 1088 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2228 108c 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2229 1090 57FF sbrs r21,7 |
| 2230 1092 0CC0 rjmp .L95 |
| 2231 1094 260F add r18,r22 |
| 2232 1096 371F adc r19,r23 |
| 2233 1098 481F adc r20,r24 |
| 2234 109a 591F adc r21,r25 |
| 2235 109c 2093 0000 sts ErsatzKompass,r18 |
| 2236 10a0 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2237 10a4 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2238 10a8 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2239 .L95: |
| 2240 10ac 6091 0000 lds r22,MesswertRoll |
| 2241 10b0 7091 0000 lds r23,(MesswertRoll)+1 |
| 2242 10b4 6E0D add r22,r14 |
| 2243 10b6 7F1D adc r23,r15 |
| 2244 10b8 9B01 movw r18,r22 |
| 2245 10ba 4427 clr r20 |
| 2246 10bc 37FD sbrc r19,7 |
| 2247 10be 4095 com r20 |
| 2248 10c0 542F mov r21,r20 |
| 2249 10c2 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2250 10c6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2251 10ca A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2252 10ce B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2253 10d2 820F add r24,r18 |
| 2254 10d4 931F adc r25,r19 |
| 2255 10d6 A41F adc r26,r20 |
| 2256 10d8 B51F adc r27,r21 |
| 2257 10da 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2258 10de 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2259 10e2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2260 10e6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2261 10ea 8091 0000 lds r24,LageKorrekturRoll |
| 2262 10ee 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2263 10f2 681B sub r22,r24 |
| 2264 10f4 790B sbc r23,r25 |
| 2265 10f6 CB01 movw r24,r22 |
| 2266 10f8 AA27 clr r26 |
| 2267 10fa 97FD sbrc r25,7 |
| 2268 10fc A095 com r26 |
| 2269 10fe BA2F mov r27,r26 |
| 2270 1100 2985 ldd r18,Y+9 |
| 2271 1102 3A85 ldd r19,Y+10 |
| 2272 1104 4B85 ldd r20,Y+11 |
| 2273 1106 5C85 ldd r21,Y+12 |
| 2274 1108 820F add r24,r18 |
| 2275 110a 931F adc r25,r19 |
| 2276 110c A41F adc r26,r20 |
| 2277 110e B51F adc r27,r21 |
| 2278 1110 8093 0000 sts Mess_IntegralRoll,r24 |
| 2279 1114 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2280 1118 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2281 111c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2282 1120 C090 0000 lds r12,Umschlag180Roll |
| 2283 1124 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2284 1128 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2285 112c F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2286 1130 C816 cp r12,r24 |
| 2287 1132 D906 cpc r13,r25 |
| 2288 1134 EA06 cpc r14,r26 |
| 2289 1136 FB06 cpc r15,r27 |
| 2290 1138 C4F4 brge .L96 |
| 2291 113a 88EA ldi r24,lo8(25000) |
| 2292 113c 91E6 ldi r25,hi8(25000) |
| 2293 113e A0E0 ldi r26,hlo8(25000) |
| 2294 1140 B0E0 ldi r27,hhi8(25000) |
| 2295 1142 8C19 sub r24,r12 |
| 2296 1144 9D09 sbc r25,r13 |
| 2297 1146 AE09 sbc r26,r14 |
| 2298 1148 BF09 sbc r27,r15 |
| 2299 114a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2300 114e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2301 1152 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2302 1156 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2303 115a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2304 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2305 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2306 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2307 .L96: |
| 2308 116a 2227 clr r18 |
| 2309 116c 3327 clr r19 |
| 2310 116e A901 movw r20,r18 |
| 2311 1170 2C19 sub r18,r12 |
| 2312 1172 3D09 sbc r19,r13 |
| 2313 1174 4E09 sbc r20,r14 |
| 2314 1176 5F09 sbc r21,r15 |
| 2315 1178 8091 0000 lds r24,Mess_IntegralRoll |
| 2316 117c 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2317 1180 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2318 1184 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2319 1188 8217 cp r24,r18 |
| 2320 118a 9307 cpc r25,r19 |
| 2321 118c A407 cpc r26,r20 |
| 2322 118e B507 cpc r27,r21 |
| 2323 1190 B4F4 brge .L97 |
| 2324 1192 D701 movw r26,r14 |
| 2325 1194 C601 movw r24,r12 |
| 2326 1196 885A subi r24,lo8(-(-25000)) |
| 2327 1198 9146 sbci r25,hi8(-(-25000)) |
| 2328 119a A040 sbci r26,hlo8(-(-25000)) |
| 2329 119c B040 sbci r27,hhi8(-(-25000)) |
| 2330 119e 8093 0000 sts Mess_IntegralRoll,r24 |
| 2331 11a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2332 11a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2333 11aa B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2334 11ae 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2335 11b2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2336 11b6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2337 11ba B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2338 .L97: |
| 2339 11be 6091 0000 lds r22,MesswertNick |
| 2340 11c2 7091 0000 lds r23,(MesswertNick)+1 |
| 2341 11c6 600F add r22,r16 |
| 2342 11c8 711F adc r23,r17 |
| 2343 11ca 9B01 movw r18,r22 |
| 2344 11cc 4427 clr r20 |
| 2345 11ce 37FD sbrc r19,7 |
| 2346 11d0 4095 com r20 |
| 2347 11d2 542F mov r21,r20 |
| 2348 11d4 8091 0000 lds r24,Mess_IntegralNick2 |
| 2349 11d8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2350 11dc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2351 11e0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2352 11e4 820F add r24,r18 |
| 2353 11e6 931F adc r25,r19 |
| 2354 11e8 A41F adc r26,r20 |
| 2355 11ea B51F adc r27,r21 |
| 2356 11ec 8093 0000 sts Mess_IntegralNick2,r24 |
| 2357 11f0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2358 11f4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2359 11f8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2360 11fc 8091 0000 lds r24,LageKorrekturNick |
| 2361 1200 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2362 1204 681B sub r22,r24 |
| 2363 1206 790B sbc r23,r25 |
| 2364 1208 CB01 movw r24,r22 |
| 2365 120a AA27 clr r26 |
| 2366 120c 97FD sbrc r25,7 |
| 2367 120e A095 com r26 |
| 2368 1210 BA2F mov r27,r26 |
| 2369 1212 2D85 ldd r18,Y+13 |
| 2370 1214 3E85 ldd r19,Y+14 |
| 2371 1216 4F85 ldd r20,Y+15 |
| 2372 1218 5889 ldd r21,Y+16 |
| 2373 121a 820F add r24,r18 |
| 2374 121c 931F adc r25,r19 |
| 2375 121e A41F adc r26,r20 |
| 2376 1220 B51F adc r27,r21 |
| 2377 1222 8093 0000 sts Mess_IntegralNick,r24 |
| 2378 1226 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2379 122a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2380 122e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2381 1232 E090 0000 lds r14,Umschlag180Nick |
| 2382 1236 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2383 123a 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2384 123e 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2385 1242 E816 cp r14,r24 |
| 2386 1244 F906 cpc r15,r25 |
| 2387 1246 0A07 cpc r16,r26 |
| 2388 1248 1B07 cpc r17,r27 |
| 2389 124a C4F4 brge .L98 |
| 2390 124c 88EA ldi r24,lo8(25000) |
| 2391 124e 91E6 ldi r25,hi8(25000) |
| 2392 1250 A0E0 ldi r26,hlo8(25000) |
| 2393 1252 B0E0 ldi r27,hhi8(25000) |
| 2394 1254 8E19 sub r24,r14 |
| 2395 1256 9F09 sbc r25,r15 |
| 2396 1258 A00B sbc r26,r16 |
| 2397 125a B10B sbc r27,r17 |
| 2398 125c 8093 0000 sts Mess_IntegralNick,r24 |
| 2399 1260 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2400 1264 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2401 1268 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2402 126c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2403 1270 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2404 1274 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2405 1278 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2406 .L98: |
| 2407 127c 2227 clr r18 |
| 2408 127e 3327 clr r19 |
| 2409 1280 A901 movw r20,r18 |
| 2410 1282 2E19 sub r18,r14 |
| 2411 1284 3F09 sbc r19,r15 |
| 2412 1286 400B sbc r20,r16 |
| 2413 1288 510B sbc r21,r17 |
| 2414 128a 8091 0000 lds r24,Mess_IntegralNick |
| 2415 128e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2416 1292 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2417 1296 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2418 129a 8217 cp r24,r18 |
| 2419 129c 9307 cpc r25,r19 |
| 2420 129e A407 cpc r26,r20 |
| 2421 12a0 B507 cpc r27,r21 |
| 2422 12a2 B4F4 brge .L99 |
| 2423 12a4 D801 movw r26,r16 |
| 2424 12a6 C701 movw r24,r14 |
| 2425 12a8 885A subi r24,lo8(-(-25000)) |
| 2426 12aa 9146 sbci r25,hi8(-(-25000)) |
| 2427 12ac A040 sbci r26,hlo8(-(-25000)) |
| 2428 12ae B040 sbci r27,hhi8(-(-25000)) |
| 2429 12b0 8093 0000 sts Mess_IntegralNick,r24 |
| 2430 12b4 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2431 12b8 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2432 12bc B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2433 12c0 8093 0000 sts Mess_IntegralNick2,r24 |
| 2434 12c4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2435 12c8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2436 12cc B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2437 .L99: |
| 2438 12d0 8091 0000 lds r24,Mess_Integral_Gier |
| 2439 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2440 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2441 12dc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2442 12e0 8093 0000 sts Integral_Gier,r24 |
| 2443 12e4 9093 0000 sts (Integral_Gier)+1,r25 |
| 2444 12e8 A093 0000 sts (Integral_Gier)+2,r26 |
| 2445 12ec B093 0000 sts (Integral_Gier)+3,r27 |
| 2446 12f0 8091 0000 lds r24,Mess_IntegralNick |
| 2447 12f4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2448 12f8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2449 12fc B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2450 1300 8093 0000 sts IntegralNick,r24 |
| 2451 1304 9093 0000 sts (IntegralNick)+1,r25 |
| 2452 1308 A093 0000 sts (IntegralNick)+2,r26 |
| 2453 130c B093 0000 sts (IntegralNick)+3,r27 |
| 2454 1310 8091 0000 lds r24,Mess_IntegralRoll |
| 2455 1314 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2456 1318 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2457 131c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2458 1320 8093 0000 sts IntegralRoll,r24 |
| 2459 1324 9093 0000 sts (IntegralRoll)+1,r25 |
| 2460 1328 A093 0000 sts (IntegralRoll)+2,r26 |
| 2461 132c B093 0000 sts (IntegralRoll)+3,r27 |
| 2462 1330 8091 0000 lds r24,Mess_IntegralNick2 |
| 2463 1334 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2464 1338 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2465 133c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2466 1340 8093 0000 sts IntegralNick2,r24 |
| 2467 1344 9093 0000 sts (IntegralNick2)+1,r25 |
| 2468 1348 A093 0000 sts (IntegralNick2)+2,r26 |
| 2469 134c B093 0000 sts (IntegralNick2)+3,r27 |
| 2470 1350 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2471 1354 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2472 1358 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2473 135c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2474 1360 8093 0000 sts IntegralRoll2,r24 |
| 2475 1364 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2476 1368 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2477 136c B093 0000 sts (IntegralRoll2)+3,r27 |
| 2478 1370 8091 0000 lds r24,HiResNick |
| 2479 1374 9091 0000 lds r25,(HiResNick)+1 |
| 2480 1378 97FD sbrc r25,7 |
| 2481 137a 0796 adiw r24,7 |
| 2482 .L100: |
| 2483 137c 33E0 ldi r19,3 |
| 2484 137e 9595 1: asr r25 |
| 2485 1380 8795 ror r24 |
| 2486 1382 3A95 dec r19 |
| 2487 1384 E1F7 brne 1b |
| 2488 1386 9093 0000 sts (MesswertNick)+1,r25 |
| 2489 138a 8093 0000 sts MesswertNick,r24 |
| 2490 138e 8091 0000 lds r24,HiResRoll |
| 2491 1392 9091 0000 lds r25,(HiResRoll)+1 |
| 2492 1396 97FD sbrc r25,7 |
| 2493 1398 0796 adiw r24,7 |
| 2494 .L101: |
| 2495 139a 23E0 ldi r18,3 |
| 2496 139c 9595 1: asr r25 |
| 2497 139e 8795 ror r24 |
| 2498 13a0 2A95 dec r18 |
| 2499 13a2 E1F7 brne 1b |
| 2500 13a4 9093 0000 sts (MesswertRoll)+1,r25 |
| 2501 13a8 8093 0000 sts MesswertRoll,r24 |
| 2502 13ac 8091 0000 lds r24,AdWertNick |
| 2503 13b0 9091 0000 lds r25,(AdWertNick)+1 |
| 2504 13b4 0F97 sbiw r24,15 |
| 2505 13b6 34F4 brge .L102 |
| 2506 13b8 88E1 ldi r24,lo8(-1000) |
| 2507 13ba 9CEF ldi r25,hi8(-1000) |
| 2508 13bc 9093 0000 sts (MesswertNick)+1,r25 |
| 2509 13c0 8093 0000 sts MesswertNick,r24 |
| 2510 .L102: |
| 2511 13c4 8091 0000 lds r24,AdWertNick |
| 2512 13c8 9091 0000 lds r25,(AdWertNick)+1 |
| 2513 13cc 0797 sbiw r24,7 |
| 2514 13ce 34F4 brge .L103 |
| 2515 13d0 80E3 ldi r24,lo8(-2000) |
| 2516 13d2 98EF ldi r25,hi8(-2000) |
| 2517 13d4 9093 0000 sts (MesswertNick)+1,r25 |
| 2518 13d8 8093 0000 sts MesswertNick,r24 |
| 2519 .L103: |
| 2520 13dc 2091 0000 lds r18,PlatinenVersion |
| 2521 13e0 2A30 cpi r18,lo8(10) |
| 2522 13e2 A9F4 brne .L104 |
| 2523 13e4 8091 0000 lds r24,AdWertNick |
| 2524 13e8 9091 0000 lds r25,(AdWertNick)+1 |
| 2525 13ec 835F subi r24,lo8(1011) |
| 2526 13ee 9340 sbci r25,hi8(1011) |
| 2527 13f0 34F0 brlt .L105 |
| 2528 13f2 88EE ldi r24,lo8(1000) |
| 2529 13f4 93E0 ldi r25,hi8(1000) |
| 2530 13f6 9093 0000 sts (MesswertNick)+1,r25 |
| 2531 13fa 8093 0000 sts MesswertNick,r24 |
| 2532 .L105: |
| 2533 13fe 8091 0000 lds r24,AdWertNick |
| 2534 1402 9091 0000 lds r25,(AdWertNick)+1 |
| 2535 1406 8A5F subi r24,lo8(1018) |
| 2536 1408 9340 sbci r25,hi8(1018) |
| 2537 140a DCF0 brlt .L107 |
| 2538 140c 14C0 rjmp .L163 |
| 2539 .L104: |
| 2540 140e 8091 0000 lds r24,AdWertNick |
| 2541 1412 9091 0000 lds r25,(AdWertNick)+1 |
| 2542 1416 815D subi r24,lo8(2001) |
| 2543 1418 9740 sbci r25,hi8(2001) |
| 2544 141a 34F0 brlt .L108 |
| 2545 141c 88EE ldi r24,lo8(1000) |
| 2546 141e 93E0 ldi r25,hi8(1000) |
| 2547 1420 9093 0000 sts (MesswertNick)+1,r25 |
| 2548 1424 8093 0000 sts MesswertNick,r24 |
| 2549 .L108: |
| 2550 1428 8091 0000 lds r24,AdWertNick |
| 2551 142c 9091 0000 lds r25,(AdWertNick)+1 |
| 2552 1430 805E subi r24,lo8(2016) |
| 2553 1432 9740 sbci r25,hi8(2016) |
| 2554 1434 34F0 brlt .L107 |
| 2555 .L163: |
| 2556 1436 80ED ldi r24,lo8(2000) |
| 2557 1438 97E0 ldi r25,hi8(2000) |
| 2558 143a 9093 0000 sts (MesswertNick)+1,r25 |
| 2559 143e 8093 0000 sts MesswertNick,r24 |
| 2560 .L107: |
| 2561 1442 8091 0000 lds r24,AdWertRoll |
| 2562 1446 9091 0000 lds r25,(AdWertRoll)+1 |
| 2563 144a 0F97 sbiw r24,15 |
| 2564 144c 34F4 brge .L110 |
| 2565 144e 88E1 ldi r24,lo8(-1000) |
| 2566 1450 9CEF ldi r25,hi8(-1000) |
| 2567 1452 9093 0000 sts (MesswertRoll)+1,r25 |
| 2568 1456 8093 0000 sts MesswertRoll,r24 |
| 2569 .L110: |
| 2570 145a 8091 0000 lds r24,AdWertRoll |
| 2571 145e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2572 1462 0797 sbiw r24,7 |
| 2573 1464 34F4 brge .L111 |
| 2574 1466 80E3 ldi r24,lo8(-2000) |
| 2575 1468 98EF ldi r25,hi8(-2000) |
| 2576 146a 9093 0000 sts (MesswertRoll)+1,r25 |
| 2577 146e 8093 0000 sts MesswertRoll,r24 |
| 2578 .L111: |
| 2579 1472 2A30 cpi r18,lo8(10) |
| 2580 1474 A9F4 brne .L112 |
| 2581 1476 8091 0000 lds r24,AdWertRoll |
| 2582 147a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2583 147e 835F subi r24,lo8(1011) |
| 2584 1480 9340 sbci r25,hi8(1011) |
| 2585 1482 34F0 brlt .L113 |
| 2586 1484 88EE ldi r24,lo8(1000) |
| 2587 1486 93E0 ldi r25,hi8(1000) |
| 2588 1488 9093 0000 sts (MesswertRoll)+1,r25 |
| 2589 148c 8093 0000 sts MesswertRoll,r24 |
| 2590 .L113: |
| 2591 1490 8091 0000 lds r24,AdWertRoll |
| 2592 1494 9091 0000 lds r25,(AdWertRoll)+1 |
| 2593 1498 8A5F subi r24,lo8(1018) |
| 2594 149a 9340 sbci r25,hi8(1018) |
| 2595 149c DCF0 brlt .L115 |
| 2596 149e 14C0 rjmp .L164 |
| 2597 .L112: |
| 2598 14a0 8091 0000 lds r24,AdWertRoll |
| 2599 14a4 9091 0000 lds r25,(AdWertRoll)+1 |
| 2600 14a8 815D subi r24,lo8(2001) |
| 2601 14aa 9740 sbci r25,hi8(2001) |
| 2602 14ac 34F0 brlt .L116 |
| 2603 14ae 88EE ldi r24,lo8(1000) |
| 2604 14b0 93E0 ldi r25,hi8(1000) |
| 2605 14b2 9093 0000 sts (MesswertRoll)+1,r25 |
| 2606 14b6 8093 0000 sts MesswertRoll,r24 |
| 2607 .L116: |
| 2608 14ba 8091 0000 lds r24,AdWertRoll |
| 2609 14be 9091 0000 lds r25,(AdWertRoll)+1 |
| 2610 14c2 805E subi r24,lo8(2016) |
| 2611 14c4 9740 sbci r25,hi8(2016) |
| 2612 14c6 34F0 brlt .L115 |
| 2613 .L164: |
| 2614 14c8 80ED ldi r24,lo8(2000) |
| 2615 14ca 97E0 ldi r25,hi8(2000) |
| 2616 14cc 9093 0000 sts (MesswertRoll)+1,r25 |
| 2617 14d0 8093 0000 sts MesswertRoll,r24 |
| 2618 .L115: |
| 2619 14d4 E091 0000 lds r30,Parameter_Gyro_D |
| 2620 14d8 EE23 tst r30 |
| 2621 14da 09F4 brne .+2 |
| 2622 14dc B7C0 rjmp .L118 |
| 2623 14de 4091 0000 lds r20,HiResNick |
| 2624 14e2 5091 0000 lds r21,(HiResNick)+1 |
| 2625 14e6 8091 0000 lds r24,oldNick.36 |
| 2626 14ea 9091 0000 lds r25,(oldNick.36)+1 |
| 2627 14ee 481B sub r20,r24 |
| 2628 14f0 590B sbc r21,r25 |
| 2629 14f2 5093 0000 sts (d2Nick.39)+1,r21 |
| 2630 14f6 4093 0000 sts d2Nick.39,r20 |
| 2631 14fa 2091 0000 lds r18,HiResNick |
| 2632 14fe 3091 0000 lds r19,(HiResNick)+1 |
| 2633 1502 280F add r18,r24 |
| 2634 1504 391F adc r19,r25 |
| 2635 1506 37FF sbrs r19,7 |
| 2636 1508 02C0 rjmp .L119 |
| 2637 150a 2F5F subi r18,lo8(-(1)) |
| 2638 150c 3F4F sbci r19,hi8(-(1)) |
| 2639 .L119: |
| 2640 150e 3595 asr r19 |
| 2641 1510 2795 ror r18 |
| 2642 1512 3093 0000 sts (oldNick.36)+1,r19 |
| 2643 1516 2093 0000 sts oldNick.36,r18 |
| 2644 151a 4138 cpi r20,129 |
| 2645 151c 5105 cpc r21,__zero_reg__ |
| 2646 151e 1CF0 brlt .L120 |
| 2647 1520 80E8 ldi r24,lo8(128) |
| 2648 1522 90E0 ldi r25,hi8(128) |
| 2649 1524 05C0 rjmp .L165 |
| 2650 .L120: |
| 2651 1526 4058 subi r20,lo8(-128) |
| 2652 1528 5F4F sbci r21,hi8(-128) |
| 2653 152a 34F4 brge .L121 |
| 2654 152c 80E8 ldi r24,lo8(-128) |
| 2655 152e 9FEF ldi r25,hi8(-128) |
| 2656 .L165: |
| 2657 1530 9093 0000 sts (d2Nick.39)+1,r25 |
| 2658 1534 8093 0000 sts d2Nick.39,r24 |
| 2659 .L121: |
| 2660 1538 8E2F mov r24,r30 |
| 2661 153a 9927 clr r25 |
| 2662 153c A091 0000 lds r26,d2Nick.39 |
| 2663 1540 B091 0000 lds r27,(d2Nick.39)+1 |
| 2664 1544 A89F mul r26,r24 |
| 2665 1546 A001 movw r20,r0 |
| 2666 1548 A99F mul r26,r25 |
| 2667 154a 500D add r21,r0 |
| 2668 154c B89F mul r27,r24 |
| 2669 154e 500D add r21,r0 |
| 2670 1550 1124 clr r1 |
| 2671 1552 57FF sbrs r21,7 |
| 2672 1554 02C0 rjmp .L123 |
| 2673 1556 415F subi r20,lo8(-(15)) |
| 2674 1558 5F4F sbci r21,hi8(-(15)) |
| 2675 .L123: |
| 2676 155a 14E0 ldi r17,4 |
| 2677 155c 5595 1: asr r21 |
| 2678 155e 4795 ror r20 |
| 2679 1560 1A95 dec r17 |
| 2680 1562 E1F7 brne 1b |
| 2681 1564 8091 0000 lds r24,MesswertNick |
| 2682 1568 9091 0000 lds r25,(MesswertNick)+1 |
| 2683 156c 840F add r24,r20 |
| 2684 156e 951F adc r25,r21 |
| 2685 1570 9093 0000 sts (MesswertNick)+1,r25 |
| 2686 1574 8093 0000 sts MesswertNick,r24 |
| 2687 1578 6091 0000 lds r22,HiResRoll |
| 2688 157c 7091 0000 lds r23,(HiResRoll)+1 |
| 2689 1580 8091 0000 lds r24,oldRoll.37 |
| 2690 1584 9091 0000 lds r25,(oldRoll.37)+1 |
| 2691 1588 681B sub r22,r24 |
| 2692 158a 790B sbc r23,r25 |
| 2693 158c 7093 0000 sts (d2Roll.38)+1,r23 |
| 2694 1590 6093 0000 sts d2Roll.38,r22 |
| 2695 1594 4091 0000 lds r20,HiResRoll |
| 2696 1598 5091 0000 lds r21,(HiResRoll)+1 |
| 2697 159c 480F add r20,r24 |
| 2698 159e 591F adc r21,r25 |
| 2699 15a0 57FF sbrs r21,7 |
| 2700 15a2 02C0 rjmp .L124 |
| 2701 15a4 4F5F subi r20,lo8(-(1)) |
| 2702 15a6 5F4F sbci r21,hi8(-(1)) |
| 2703 .L124: |
| 2704 15a8 5595 asr r21 |
| 2705 15aa 4795 ror r20 |
| 2706 15ac 5093 0000 sts (oldRoll.37)+1,r21 |
| 2707 15b0 4093 0000 sts oldRoll.37,r20 |
| 2708 15b4 6138 cpi r22,129 |
| 2709 15b6 7105 cpc r23,__zero_reg__ |
| 2710 15b8 1CF0 brlt .L125 |
| 2711 15ba 80E8 ldi r24,lo8(128) |
| 2712 15bc 90E0 ldi r25,hi8(128) |
| 2713 15be 05C0 rjmp .L166 |
| 2714 .L125: |
| 2715 15c0 6058 subi r22,lo8(-128) |
| 2716 15c2 7F4F sbci r23,hi8(-128) |
| 2717 15c4 34F4 brge .L126 |
| 2718 15c6 80E8 ldi r24,lo8(-128) |
| 2719 15c8 9FEF ldi r25,hi8(-128) |
| 2720 .L166: |
| 2721 15ca 9093 0000 sts (d2Roll.38)+1,r25 |
| 2722 15ce 8093 0000 sts d2Roll.38,r24 |
| 2723 .L126: |
| 2724 15d2 2E2F mov r18,r30 |
| 2725 15d4 3327 clr r19 |
| 2726 15d6 8091 0000 lds r24,d2Roll.38 |
| 2727 15da 9091 0000 lds r25,(d2Roll.38)+1 |
| 2728 15de 829F mul r24,r18 |
| 2729 15e0 B001 movw r22,r0 |
| 2730 15e2 839F mul r24,r19 |
| 2731 15e4 700D add r23,r0 |
| 2732 15e6 929F mul r25,r18 |
| 2733 15e8 700D add r23,r0 |
| 2734 15ea 1124 clr r1 |
| 2735 15ec AB01 movw r20,r22 |
| 2736 15ee 77FF sbrs r23,7 |
| 2737 15f0 02C0 rjmp .L128 |
| 2738 15f2 415F subi r20,lo8(-(15)) |
| 2739 15f4 5F4F sbci r21,hi8(-(15)) |
| 2740 .L128: |
| 2741 15f6 E4E0 ldi r30,4 |
| 2742 15f8 5595 1: asr r21 |
| 2743 15fa 4795 ror r20 |
| 2744 15fc EA95 dec r30 |
| 2745 15fe E1F7 brne 1b |
| 2746 1600 8091 0000 lds r24,MesswertRoll |
| 2747 1604 9091 0000 lds r25,(MesswertRoll)+1 |
| 2748 1608 840F add r24,r20 |
| 2749 160a 951F adc r25,r21 |
| 2750 160c 9093 0000 sts (MesswertRoll)+1,r25 |
| 2751 1610 8093 0000 sts MesswertRoll,r24 |
| 2752 1614 A29F mul r26,r18 |
| 2753 1616 C001 movw r24,r0 |
| 2754 1618 A39F mul r26,r19 |
| 2755 161a 900D add r25,r0 |
| 2756 161c B29F mul r27,r18 |
| 2757 161e 900D add r25,r0 |
| 2758 1620 1124 clr r1 |
| 2759 1622 9C01 movw r18,r24 |
| 2760 1624 8091 0000 lds r24,HiResNick |
| 2761 1628 9091 0000 lds r25,(HiResNick)+1 |
| 2762 162c 820F add r24,r18 |
| 2763 162e 931F adc r25,r19 |
| 2764 1630 9093 0000 sts (HiResNick)+1,r25 |
| 2765 1634 8093 0000 sts HiResNick,r24 |
| 2766 1638 8091 0000 lds r24,HiResRoll |
| 2767 163c 9091 0000 lds r25,(HiResRoll)+1 |
| 2768 1640 860F add r24,r22 |
| 2769 1642 971F adc r25,r23 |
| 2770 1644 9093 0000 sts (HiResRoll)+1,r25 |
| 2771 1648 8093 0000 sts HiResRoll,r24 |
| 2772 .L118: |
| 2773 164c 0091 0000 lds r16,RohMesswertRoll |
| 2774 1650 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2775 1654 8091 0000 lds r24,KopplungsteilNickRoll |
| 2776 1658 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2777 165c 1016 cp __zero_reg__,r16 |
| 2778 165e 1106 cpc __zero_reg__,r17 |
| 2779 1660 5CF5 brge .L129 |
| 2780 1662 9C01 movw r18,r24 |
| 2781 1664 97FF sbrs r25,7 |
| 2782 1666 04C0 rjmp .L130 |
| 2783 1668 2227 clr r18 |
| 2784 166a 3327 clr r19 |
| 2785 166c 281B sub r18,r24 |
| 2786 166e 390B sbc r19,r25 |
| 2787 .L130: |
| 2788 1670 C901 movw r24,r18 |
| 2789 1672 AA27 clr r26 |
| 2790 1674 97FD sbrc r25,7 |
| 2791 1676 A095 com r26 |
| 2792 1678 BA2F mov r27,r26 |
| 2793 167a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2794 167e 3327 clr r19 |
| 2795 1680 4427 clr r20 |
| 2796 1682 5527 clr r21 |
| 2797 1684 BC01 movw r22,r24 |
| 2798 1686 CD01 movw r24,r26 |
| 2799 1688 0E94 0000 call __mulsi3 |
| 2800 168c 9B01 movw r18,r22 |
| 2801 168e AC01 movw r20,r24 |
| 2802 1690 97FF sbrs r25,7 |
| 2803 1692 04C0 rjmp .L131 |
| 2804 1694 215C subi r18,lo8(-(63)) |
| 2805 1696 3F4F sbci r19,hi8(-(63)) |
| 2806 1698 4F4F sbci r20,hlo8(-(63)) |
| 2807 169a 5F4F sbci r21,hhi8(-(63)) |
| 2808 .L131: |
| 2809 169c 76E0 ldi r23,6 |
| 2810 169e 5595 1: asr r21 |
| 2811 16a0 4795 ror r20 |
| 2812 16a2 3795 ror r19 |
| 2813 16a4 2795 ror r18 |
| 2814 16a6 7A95 dec r23 |
| 2815 16a8 D1F7 brne 1b |
| 2816 16aa 8091 0000 lds r24,TrimRoll |
| 2817 16ae 9091 0000 lds r25,(TrimRoll)+1 |
| 2818 16b2 820F add r24,r18 |
| 2819 16b4 931F adc r25,r19 |
| 2820 16b6 27C0 rjmp .L167 |
| 2821 .L129: |
| 2822 16b8 97FF sbrs r25,7 |
| 2823 16ba 03C0 rjmp .L133 |
| 2824 16bc 9095 com r25 |
| 2825 16be 8195 neg r24 |
| 2826 16c0 9F4F sbci r25,lo8(-1) |
| 2827 .L133: |
| 2828 16c2 AA27 clr r26 |
| 2829 16c4 97FD sbrc r25,7 |
| 2830 16c6 A095 com r26 |
| 2831 16c8 BA2F mov r27,r26 |
| 2832 16ca 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2833 16ce 3327 clr r19 |
| 2834 16d0 4427 clr r20 |
| 2835 16d2 5527 clr r21 |
| 2836 16d4 BC01 movw r22,r24 |
| 2837 16d6 CD01 movw r24,r26 |
| 2838 16d8 0E94 0000 call __mulsi3 |
| 2839 16dc 9B01 movw r18,r22 |
| 2840 16de AC01 movw r20,r24 |
| 2841 16e0 97FF sbrs r25,7 |
| 2842 16e2 04C0 rjmp .L134 |
| 2843 16e4 215C subi r18,lo8(-(63)) |
| 2844 16e6 3F4F sbci r19,hi8(-(63)) |
| 2845 16e8 4F4F sbci r20,hlo8(-(63)) |
| 2846 16ea 5F4F sbci r21,hhi8(-(63)) |
| 2847 .L134: |
| 2848 16ec 66E0 ldi r22,6 |
| 2849 16ee 5595 1: asr r21 |
| 2850 16f0 4795 ror r20 |
| 2851 16f2 3795 ror r19 |
| 2852 16f4 2795 ror r18 |
| 2853 16f6 6A95 dec r22 |
| 2854 16f8 D1F7 brne 1b |
| 2855 16fa 8091 0000 lds r24,TrimRoll |
| 2856 16fe 9091 0000 lds r25,(TrimRoll)+1 |
| 2857 1702 821B sub r24,r18 |
| 2858 1704 930B sbc r25,r19 |
| 2859 .L167: |
| 2860 1706 9093 0000 sts (TrimRoll)+1,r25 |
| 2861 170a 8093 0000 sts TrimRoll,r24 |
| 2862 170e E090 0000 lds r14,RohMesswertNick |
| 2863 1712 F090 0000 lds r15,(RohMesswertNick)+1 |
| 2864 1716 8091 0000 lds r24,KopplungsteilRollNick |
| 2865 171a 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 2866 171e 1E14 cp __zero_reg__,r14 |
| 2867 1720 1F04 cpc __zero_reg__,r15 |
| 2868 1722 5CF5 brge .L135 |
| 2869 1724 9C01 movw r18,r24 |
| 2870 1726 97FF sbrs r25,7 |
| 2871 1728 04C0 rjmp .L136 |
| 2872 172a 2227 clr r18 |
| 2873 172c 3327 clr r19 |
| 2874 172e 281B sub r18,r24 |
| 2875 1730 390B sbc r19,r25 |
| 2876 .L136: |
| 2877 1732 C901 movw r24,r18 |
| 2878 1734 AA27 clr r26 |
| 2879 1736 97FD sbrc r25,7 |
| 2880 1738 A095 com r26 |
| 2881 173a BA2F mov r27,r26 |
| 2882 173c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2883 1740 3327 clr r19 |
| 2884 1742 4427 clr r20 |
| 2885 1744 5527 clr r21 |
| 2886 1746 BC01 movw r22,r24 |
| 2887 1748 CD01 movw r24,r26 |
| 2888 174a 0E94 0000 call __mulsi3 |
| 2889 174e 9B01 movw r18,r22 |
| 2890 1750 AC01 movw r20,r24 |
| 2891 1752 97FF sbrs r25,7 |
| 2892 1754 04C0 rjmp .L137 |
| 2893 1756 215C subi r18,lo8(-(63)) |
| 2894 1758 3F4F sbci r19,hi8(-(63)) |
| 2895 175a 4F4F sbci r20,hlo8(-(63)) |
| 2896 175c 5F4F sbci r21,hhi8(-(63)) |
| 2897 .L137: |
| 2898 175e 96E0 ldi r25,6 |
| 2899 1760 5595 1: asr r21 |
| 2900 1762 4795 ror r20 |
| 2901 1764 3795 ror r19 |
| 2902 1766 2795 ror r18 |
| 2903 1768 9A95 dec r25 |
| 2904 176a D1F7 brne 1b |
| 2905 176c 8091 0000 lds r24,TrimNick |
| 2906 1770 9091 0000 lds r25,(TrimNick)+1 |
| 2907 1774 820F add r24,r18 |
| 2908 1776 931F adc r25,r19 |
| 2909 1778 27C0 rjmp .L168 |
| 2910 .L135: |
| 2911 177a 97FF sbrs r25,7 |
| 2912 177c 03C0 rjmp .L139 |
| 2913 177e 9095 com r25 |
| 2914 1780 8195 neg r24 |
| 2915 1782 9F4F sbci r25,lo8(-1) |
| 2916 .L139: |
| 2917 1784 AA27 clr r26 |
| 2918 1786 97FD sbrc r25,7 |
| 2919 1788 A095 com r26 |
| 2920 178a BA2F mov r27,r26 |
| 2921 178c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2922 1790 3327 clr r19 |
| 2923 1792 4427 clr r20 |
| 2924 1794 5527 clr r21 |
| 2925 1796 BC01 movw r22,r24 |
| 2926 1798 CD01 movw r24,r26 |
| 2927 179a 0E94 0000 call __mulsi3 |
| 2928 179e 9B01 movw r18,r22 |
| 2929 17a0 AC01 movw r20,r24 |
| 2930 17a2 97FF sbrs r25,7 |
| 2931 17a4 04C0 rjmp .L140 |
| 2932 17a6 215C subi r18,lo8(-(63)) |
| 2933 17a8 3F4F sbci r19,hi8(-(63)) |
| 2934 17aa 4F4F sbci r20,hlo8(-(63)) |
| 2935 17ac 5F4F sbci r21,hhi8(-(63)) |
| 2936 .L140: |
| 2937 17ae 86E0 ldi r24,6 |
| 2938 17b0 5595 1: asr r21 |
| 2939 17b2 4795 ror r20 |
| 2940 17b4 3795 ror r19 |
| 2941 17b6 2795 ror r18 |
| 2942 17b8 8A95 dec r24 |
| 2943 17ba D1F7 brne 1b |
| 2944 17bc 8091 0000 lds r24,TrimNick |
| 2945 17c0 9091 0000 lds r25,(TrimNick)+1 |
| 2946 17c4 821B sub r24,r18 |
| 2947 17c6 930B sbc r25,r19 |
| 2948 .L168: |
| 2949 17c8 9093 0000 sts (TrimNick)+1,r25 |
| 2950 17cc 8093 0000 sts TrimNick,r24 |
| 2951 17d0 8091 0000 lds r24,EE_Parameter+13 |
| 2952 17d4 87FF sbrs r24,7 |
| 2953 17d6 44C0 rjmp .L141 |
| 2954 17d8 9989 ldd r25,Y+17 |
| 2955 17da 9923 tst r25 |
| 2956 17dc 09F0 breq .+2 |
| 2957 17de 40C0 rjmp .L141 |
| 2958 17e0 8091 0000 lds r24,Looping_Roll |
| 2959 17e4 8823 tst r24 |
| 2960 17e6 E1F5 brne .L141 |
| 2961 17e8 A1E0 ldi r26,lo8(257) |
| 2962 17ea EA16 cp r14,r26 |
| 2963 17ec A1E0 ldi r26,hi8(257) |
| 2964 17ee FA06 cpc r15,r26 |
| 2965 17f0 4CF0 brlt .L142 |
| 2966 17f2 8091 0000 lds r24,MesswertNick |
| 2967 17f6 9091 0000 lds r25,(MesswertNick)+1 |
| 2968 17fa 8E0D add r24,r14 |
| 2969 17fc 9F1D adc r25,r15 |
| 2970 17fe 8050 subi r24,lo8(-(-256)) |
| 2971 1800 9140 sbci r25,hi8(-(-256)) |
| 2972 1802 0DC0 rjmp .L169 |
| 2973 .L142: |
| 2974 1804 B0E0 ldi r27,lo8(-256) |
| 2975 1806 EB16 cp r14,r27 |
| 2976 1808 BFEF ldi r27,hi8(-256) |
| 2977 180a FB06 cpc r15,r27 |
| 2978 180c 64F4 brge .L143 |
| 2979 180e 8091 0000 lds r24,MesswertNick |
| 2980 1812 9091 0000 lds r25,(MesswertNick)+1 |
| 2981 1816 8E0D add r24,r14 |
| 2982 1818 9F1D adc r25,r15 |
| 2983 181a 8050 subi r24,lo8(-(256)) |
| 2984 181c 9F4F sbci r25,hi8(-(256)) |
| 2985 .L169: |
| 2986 181e 9093 0000 sts (MesswertNick)+1,r25 |
| 2987 1822 8093 0000 sts MesswertNick,r24 |
| 2988 .L143: |
| 2989 1826 E1E0 ldi r30,hi8(257) |
| 2990 1828 0130 cpi r16,lo8(257) |
| 2991 182a 1E07 cpc r17,r30 |
| 2992 182c 4CF0 brlt .L145 |
| 2993 182e 8091 0000 lds r24,MesswertRoll |
| 2994 1832 9091 0000 lds r25,(MesswertRoll)+1 |
| 2995 1836 800F add r24,r16 |
| 2996 1838 911F adc r25,r17 |
| 2997 183a 8050 subi r24,lo8(-(-256)) |
| 2998 183c 9140 sbci r25,hi8(-(-256)) |
| 2999 183e 0CC0 rjmp .L170 |
| 3000 .L145: |
| 3001 1840 FFEF ldi r31,hi8(-256) |
| 3002 1842 0030 cpi r16,lo8(-256) |
| 3003 1844 1F07 cpc r17,r31 |
| 3004 1846 64F4 brge .L141 |
| 3005 1848 8091 0000 lds r24,MesswertRoll |
| 3006 184c 9091 0000 lds r25,(MesswertRoll)+1 |
| 3007 1850 800F add r24,r16 |
| 3008 1852 911F adc r25,r17 |
| 3009 1854 8050 subi r24,lo8(-(256)) |
| 3010 1856 9F4F sbci r25,hi8(-(256)) |
| 3011 .L170: |
| 3012 1858 9093 0000 sts (MesswertRoll)+1,r25 |
| 3013 185c 8093 0000 sts MesswertRoll,r24 |
| 3014 .L141: |
| 3015 1860 A0E0 ldi r26,lo8(Poti) |
| 3016 1862 B0E0 ldi r27,hi8(Poti) |
| 3017 1864 60E0 ldi r22,lo8(EE_Parameter+5) |
| 3018 1866 70E0 ldi r23,hi8(EE_Parameter+5) |
| 3019 1868 57E0 ldi r21,lo8(7) |
| 3020 .L158: |
| 3021 186a FB01 movw r30,r22 |
| 3022 186c 8191 ld r24,Z+ |
| 3023 186e BF01 movw r22,r30 |
| 3024 1870 E82F mov r30,r24 |
| 3025 1872 FF27 clr r31 |
| 3026 1874 EE0F add r30,r30 |
| 3027 1876 FF1F adc r31,r31 |
| 3028 1878 E050 subi r30,lo8(-(PPM_in)) |
| 3029 187a F040 sbci r31,hi8(-(PPM_in)) |
| 3030 187c 0190 ld __tmp_reg__,Z+ |
| 3031 187e F081 ld r31,Z |
| 3032 1880 E02D mov r30,__tmp_reg__ |
| 3033 1882 E259 subi r30,lo8(-(110)) |
| 3034 1884 FF4F sbci r31,hi8(-(110)) |
| 3035 1886 EF3F cpi r30,255 |
| 3036 1888 F105 cpc r31,__zero_reg__ |
| 3037 188a 21F0 breq .L151 |
| 3038 188c 1CF0 brlt .L151 |
| 3039 188e EFEF ldi r30,lo8(255) |
| 3040 1890 F0E0 ldi r31,hi8(255) |
| 3041 1892 04C0 rjmp .L152 |
| 3042 .L151: |
| 3043 1894 F7FF sbrs r31,7 |
| 3044 1896 02C0 rjmp .L152 |
| 3045 1898 E0E0 ldi r30,lo8(0) |
| 3046 189a F0E0 ldi r31,hi8(0) |
| 3047 .L152: |
| 3048 189c 4C91 ld r20,X |
| 3049 189e 242F mov r18,r20 |
| 3050 18a0 3327 clr r19 |
| 3051 18a2 E217 cp r30,r18 |
| 3052 18a4 F307 cpc r31,r19 |
| 3053 18a6 B1F0 breq .L150 |
| 3054 18a8 CF01 movw r24,r30 |
| 3055 18aa 821B sub r24,r18 |
| 3056 18ac 930B sbc r25,r19 |
| 3057 18ae 97FD sbrc r25,7 |
| 3058 18b0 0796 adiw r24,7 |
| 3059 .L155: |
| 3060 18b2 13E0 ldi r17,3 |
| 3061 18b4 9595 1: asr r25 |
| 3062 18b6 8795 ror r24 |
| 3063 18b8 1A95 dec r17 |
| 3064 18ba E1F7 brne 1b |
| 3065 18bc 242F mov r18,r20 |
| 3066 18be 280F add r18,r24 |
| 3067 18c0 2C93 st X,r18 |
| 3068 18c2 822F mov r24,r18 |
| 3069 18c4 9927 clr r25 |
| 3070 18c6 E817 cp r30,r24 |
| 3071 18c8 F907 cpc r31,r25 |
| 3072 18ca 14F4 brge .L156 |
| 3073 18cc 2150 subi r18,lo8(-(-1)) |
| 3074 18ce 01C0 rjmp .L171 |
| 3075 .L156: |
| 3076 18d0 2F5F subi r18,lo8(-(1)) |
| 3077 .L171: |
| 3078 18d2 2C93 st X,r18 |
| 3079 .L150: |
| 3080 18d4 5150 subi r21,lo8(-(-1)) |
| 3081 18d6 1196 adiw r26,1 |
| 3082 18d8 57FF sbrs r21,7 |
| 3083 18da C7CF rjmp .L158 |
| 3084 /* epilogue: frame size=19 */ |
| 3085 18dc E2E1 ldi r30,18 |
| 3086 18de CD5E subi r28,-19 |
| 3087 18e0 0C94 0000 jmp __epilogue_restores__+0 |
| 3088 /* epilogue end (size=4) */ |
| 3089 /* function Mittelwert size 2071 (2061) */ |
| 3091 .global SendMotorData |
| 3093 SendMotorData: |
| 3094 /* prologue: frame size=0 */ |
| 3095 /* prologue end (size=0) */ |
| 3096 18e4 8091 0000 lds r24,MotorenEin |
| 3097 18e8 8823 tst r24 |
| 3098 18ea 01F5 brne .L173 |
| 3099 18ec 8091 0000 lds r24,FCFlags |
| 3100 18f0 8C7F andi r24,lo8(-4) |
| 3101 18f2 8093 0000 sts FCFlags,r24 |
| 3102 18f6 A0E0 ldi r26,lo8(MotorTest) |
| 3103 18f8 B0E0 ldi r27,hi8(MotorTest) |
| 3104 18fa E0E0 ldi r30,lo8(Motor) |
| 3105 18fc F0E0 ldi r31,hi8(Motor) |
| 3106 18fe 9BE0 ldi r25,lo8(11) |
| 3107 .L178: |
| 3108 1900 8091 0000 lds r24,PC_MotortestActive |
| 3109 1904 8823 tst r24 |
| 3110 1906 09F4 brne .L177 |
| 3111 1908 8C93 st X,r24 |
| 3112 .L177: |
| 3113 190a 8D91 ld r24,X+ |
| 3114 190c 8183 std Z+1,r24 |
| 3115 190e 1282 std Z+2,__zero_reg__ |
| 3116 1910 9150 subi r25,lo8(-(-1)) |
| 3117 1912 3896 adiw r30,8 |
| 3118 1914 97FF sbrs r25,7 |
| 3119 1916 F4CF rjmp .L178 |
| 3120 1918 8091 0000 lds r24,PC_MotortestActive |
| 3121 191c 8823 tst r24 |
| 3122 191e 59F0 breq .L180 |
| 3123 1920 8091 0000 lds r24,PC_MotortestActive |
| 3124 1924 8150 subi r24,lo8(-(-1)) |
| 3125 1926 8093 0000 sts PC_MotortestActive,r24 |
| 3126 192a 05C0 rjmp .L180 |
| 3127 .L173: |
| 3128 192c 8091 0000 lds r24,FCFlags |
| 3129 1930 8160 ori r24,lo8(1) |
| 3130 1932 8093 0000 sts FCFlags,r24 |
| 3131 .L180: |
| 3132 1936 1092 0000 sts motor_write,__zero_reg__ |
| 3133 193a 1092 0000 sts twi_state,__zero_reg__ |
| 3134 193e 8091 0000 lds r24,BLFlags |
| 3135 1942 8E7F andi r24,lo8(-2) |
| 3136 1944 8093 0000 sts BLFlags,r24 |
| 3137 1948 85EA ldi r24,lo8(-91) |
| 3138 194a 8093 BC00 sts 188,r24 |
| 3139 /* epilogue: frame size=0 */ |
| 3140 194e 0895 ret |
| 3141 /* epilogue end (size=1) */ |
| 3142 /* function SendMotorData size 54 (53) */ |
| 3144 .global ParameterZuordnung |
| 3146 ParameterZuordnung: |
| 3147 /* prologue: frame size=0 */ |
| 3148 /* prologue end (size=0) */ |
| 3149 1950 8091 0000 lds r24,EE_Parameter+15 |
| 3150 1954 883F cpi r24,lo8(-8) |
| 3151 1956 38F0 brlo .L275 |
| 3152 1958 EFEF ldi r30,lo8(255) |
| 3153 195a F0E0 ldi r31,hi8(255) |
| 3154 195c E81B sub r30,r24 |
| 3155 195e F109 sbc r31,__zero_reg__ |
| 3156 1960 E050 subi r30,lo8(-(Poti)) |
| 3157 1962 F040 sbci r31,hi8(-(Poti)) |
| 3158 1964 8081 ld r24,Z |
| 3159 .L275: |
| 3160 1966 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3161 196a 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3162 196e 8823 tst r24 |
| 3163 1970 29F0 breq .L187 |
| 3164 1972 8436 cpi r24,lo8(100) |
| 3165 1974 18F0 brlo .L187 |
| 3166 1976 84E6 ldi r24,lo8(100) |
| 3167 1978 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3168 .L187: |
| 3169 197c 8091 0000 lds r24,EE_Parameter+17 |
| 3170 1980 883F cpi r24,lo8(-8) |
| 3171 1982 38F0 brlo .L276 |
| 3172 1984 EFEF ldi r30,lo8(255) |
| 3173 1986 F0E0 ldi r31,hi8(255) |
| 3174 1988 E81B sub r30,r24 |
| 3175 198a F109 sbc r31,__zero_reg__ |
| 3176 198c E050 subi r30,lo8(-(Poti)) |
| 3177 198e F040 sbci r31,hi8(-(Poti)) |
| 3178 1990 8081 ld r24,Z |
| 3179 .L276: |
| 3180 1992 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3181 1996 8091 0000 lds r24,Parameter_Hoehe_P |
| 3182 199a 8823 tst r24 |
| 3183 199c 29F0 breq .L192 |
| 3184 199e 8436 cpi r24,lo8(100) |
| 3185 19a0 18F0 brlo .L192 |
| 3186 19a2 84E6 ldi r24,lo8(100) |
| 3187 19a4 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3188 .L192: |
| 3189 19a8 8091 0000 lds r24,EE_Parameter+30 |
| 3190 19ac 883F cpi r24,lo8(-8) |
| 3191 19ae 38F0 brlo .L277 |
| 3192 19b0 EFEF ldi r30,lo8(255) |
| 3193 19b2 F0E0 ldi r31,hi8(255) |
| 3194 19b4 E81B sub r30,r24 |
| 3195 19b6 F109 sbc r31,__zero_reg__ |
| 3196 19b8 E050 subi r30,lo8(-(Poti)) |
| 3197 19ba F040 sbci r31,hi8(-(Poti)) |
| 3198 19bc 8081 ld r24,Z |
| 3199 .L277: |
| 3200 19be 8093 0000 sts Parameter_Gyro_P,r24 |
| 3201 19c2 8091 0000 lds r24,Parameter_Gyro_P |
| 3202 19c6 8B30 cpi r24,lo8(11) |
| 3203 19c8 10F4 brsh .L196 |
| 3204 19ca 8AE0 ldi r24,lo8(10) |
| 3205 19cc 02C0 rjmp .L278 |
| 3206 .L196: |
| 3207 19ce 8F3F cpi r24,lo8(-1) |
| 3208 19d0 11F4 brne .L197 |
| 3209 .L278: |
| 3210 19d2 8093 0000 sts Parameter_Gyro_P,r24 |
| 3211 .L197: |
| 3212 19d6 8091 0000 lds r24,EE_Parameter+73 |
| 3213 19da 883F cpi r24,lo8(-8) |
| 3214 19dc 38F0 brlo .L279 |
| 3215 19de EFEF ldi r30,lo8(255) |
| 3216 19e0 F0E0 ldi r31,hi8(255) |
| 3217 19e2 E81B sub r30,r24 |
| 3218 19e4 F109 sbc r31,__zero_reg__ |
| 3219 19e6 E050 subi r30,lo8(-(Poti)) |
| 3220 19e8 F040 sbci r31,hi8(-(Poti)) |
| 3221 19ea 8081 ld r24,Z |
| 3222 .L279: |
| 3223 19ec 8093 0000 sts Parameter_J16Timing,r24 |
| 3224 19f0 8091 0000 lds r24,Parameter_J16Timing |
| 3225 19f4 8230 cpi r24,lo8(2) |
| 3226 19f6 10F4 brsh .L201 |
| 3227 19f8 81E0 ldi r24,lo8(1) |
| 3228 19fa 02C0 rjmp .L280 |
| 3229 .L201: |
| 3230 19fc 8F3F cpi r24,lo8(-1) |
| 3231 19fe 11F4 brne .L202 |
| 3232 .L280: |
| 3233 1a00 8093 0000 sts Parameter_J16Timing,r24 |
| 3234 .L202: |
| 3235 1a04 8091 0000 lds r24,EE_Parameter+75 |
| 3236 1a08 883F cpi r24,lo8(-8) |
| 3237 1a0a 38F0 brlo .L281 |
| 3238 1a0c EFEF ldi r30,lo8(255) |
| 3239 1a0e F0E0 ldi r31,hi8(255) |
| 3240 1a10 E81B sub r30,r24 |
| 3241 1a12 F109 sbc r31,__zero_reg__ |
| 3242 1a14 E050 subi r30,lo8(-(Poti)) |
| 3243 1a16 F040 sbci r31,hi8(-(Poti)) |
| 3244 1a18 8081 ld r24,Z |
| 3245 .L281: |
| 3246 1a1a 8093 0000 sts Parameter_J17Timing,r24 |
| 3247 1a1e 8091 0000 lds r24,Parameter_J17Timing |
| 3248 1a22 8230 cpi r24,lo8(2) |
| 3249 1a24 10F4 brsh .L206 |
| 3250 1a26 81E0 ldi r24,lo8(1) |
| 3251 1a28 02C0 rjmp .L282 |
| 3252 .L206: |
| 3253 1a2a 8F3F cpi r24,lo8(-1) |
| 3254 1a2c 11F4 brne .L207 |
| 3255 .L282: |
| 3256 1a2e 8093 0000 sts Parameter_J17Timing,r24 |
| 3257 .L207: |
| 3258 1a32 8091 0000 lds r24,EE_Parameter+54 |
| 3259 1a36 883F cpi r24,lo8(-8) |
| 3260 1a38 38F0 brlo .L283 |
| 3261 1a3a EFEF ldi r30,lo8(255) |
| 3262 1a3c F0E0 ldi r31,hi8(255) |
| 3263 1a3e E81B sub r30,r24 |
| 3264 1a40 F109 sbc r31,__zero_reg__ |
| 3265 1a42 E050 subi r30,lo8(-(Poti)) |
| 3266 1a44 F040 sbci r31,hi8(-(Poti)) |
| 3267 1a46 8081 ld r24,Z |
| 3268 .L283: |
| 3269 1a48 8093 0000 sts Parameter_Servo3,r24 |
| 3270 1a4c 8091 0000 lds r24,EE_Parameter+55 |
| 3271 1a50 883F cpi r24,lo8(-8) |
| 3272 1a52 38F0 brlo .L284 |
| 3273 1a54 EFEF ldi r30,lo8(255) |
| 3274 1a56 F0E0 ldi r31,hi8(255) |
| 3275 1a58 E81B sub r30,r24 |
| 3276 1a5a F109 sbc r31,__zero_reg__ |
| 3277 1a5c E050 subi r30,lo8(-(Poti)) |
| 3278 1a5e F040 sbci r31,hi8(-(Poti)) |
| 3279 1a60 8081 ld r24,Z |
| 3280 .L284: |
| 3281 1a62 8093 0000 sts Parameter_Servo4,r24 |
| 3282 1a66 8091 0000 lds r24,EE_Parameter+56 |
| 3283 1a6a 883F cpi r24,lo8(-8) |
| 3284 1a6c 38F0 brlo .L285 |
| 3285 1a6e EFEF ldi r30,lo8(255) |
| 3286 1a70 F0E0 ldi r31,hi8(255) |
| 3287 1a72 E81B sub r30,r24 |
| 3288 1a74 F109 sbc r31,__zero_reg__ |
| 3289 1a76 E050 subi r30,lo8(-(Poti)) |
| 3290 1a78 F040 sbci r31,hi8(-(Poti)) |
| 3291 1a7a 8081 ld r24,Z |
| 3292 .L285: |
| 3293 1a7c 8093 0000 sts Parameter_Servo5,r24 |
| 3294 1a80 9091 0000 lds r25,EE_Parameter+16 |
| 3295 1a84 983F cpi r25,lo8(-8) |
| 3296 1a86 18F4 brsh .L215 |
| 3297 1a88 9093 0000 sts Parameter_MaxHoehe,r25 |
| 3298 1a8c 09C0 rjmp .L216 |
| 3299 .L215: |
| 3300 1a8e EFEF ldi r30,lo8(255) |
| 3301 1a90 F0E0 ldi r31,hi8(255) |
| 3302 1a92 E91B sub r30,r25 |
| 3303 1a94 F109 sbc r31,__zero_reg__ |
| 3304 1a96 E050 subi r30,lo8(-(Poti)) |
| 3305 1a98 F040 sbci r31,hi8(-(Poti)) |
| 3306 1a9a 8081 ld r24,Z |
| 3307 1a9c 8093 0000 sts Parameter_MaxHoehe,r24 |
| 3308 .L216: |
| 3309 1aa0 983F cpi r25,lo8(-8) |
| 3310 1aa2 18F4 brsh .L217 |
| 3311 1aa4 9093 0000 sts Parameter_MaxHoehe,r25 |
| 3312 1aa8 09C0 rjmp .L218 |
| 3313 .L217: |
| 3314 1aaa EFEF ldi r30,lo8(255) |
| 3315 1aac F0E0 ldi r31,hi8(255) |
| 3316 1aae E91B sub r30,r25 |
| 3317 1ab0 F109 sbc r31,__zero_reg__ |
| 3318 1ab2 E050 subi r30,lo8(-(Poti)) |
| 3319 1ab4 F040 sbci r31,hi8(-(Poti)) |
| 3320 1ab6 8081 ld r24,Z |
| 3321 1ab8 8093 0000 sts Parameter_MaxHoehe,r24 |
| 3322 .L218: |
| 3323 1abc 8091 0000 lds r24,EE_Parameter+19 |
| 3324 1ac0 883F cpi r24,lo8(-8) |
| 3325 1ac2 38F0 brlo .L286 |
| 3326 1ac4 EFEF ldi r30,lo8(255) |
| 3327 1ac6 F0E0 ldi r31,hi8(255) |
| 3328 1ac8 E81B sub r30,r24 |
| 3329 1aca F109 sbc r31,__zero_reg__ |
| 3330 1acc E050 subi r30,lo8(-(Poti)) |
| 3331 1ace F040 sbci r31,hi8(-(Poti)) |
| 3332 1ad0 8081 ld r24,Z |
| 3333 .L286: |
| 3334 1ad2 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3335 1ad6 8091 0000 lds r24,EE_Parameter+21 |
| 3336 1ada 883F cpi r24,lo8(-8) |
| 3337 1adc 38F0 brlo .L287 |
| 3338 1ade EFEF ldi r30,lo8(255) |
| 3339 1ae0 F0E0 ldi r31,hi8(255) |
| 3340 1ae2 E81B sub r30,r24 |
| 3341 1ae4 F109 sbc r31,__zero_reg__ |
| 3342 1ae6 E050 subi r30,lo8(-(Poti)) |
| 3343 1ae8 F040 sbci r31,hi8(-(Poti)) |
| 3344 1aea 8081 ld r24,Z |
| 3345 .L287: |
| 3346 1aec 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3347 1af0 8091 0000 lds r24,EE_Parameter+29 |
| 3348 1af4 883F cpi r24,lo8(-8) |
| 3349 1af6 38F0 brlo .L288 |
| 3350 1af8 EFEF ldi r30,lo8(255) |
| 3351 1afa F0E0 ldi r31,hi8(255) |
| 3352 1afc E81B sub r30,r24 |
| 3353 1afe F109 sbc r31,__zero_reg__ |
| 3354 1b00 E050 subi r30,lo8(-(Poti)) |
| 3355 1b02 F040 sbci r31,hi8(-(Poti)) |
| 3356 1b04 8081 ld r24,Z |
| 3357 .L288: |
| 3358 1b06 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3359 1b0a 8091 0000 lds r24,EE_Parameter+31 |
| 3360 1b0e 883F cpi r24,lo8(-8) |
| 3361 1b10 38F0 brlo .L289 |
| 3362 1b12 EFEF ldi r30,lo8(255) |
| 3363 1b14 F0E0 ldi r31,hi8(255) |
| 3364 1b16 E81B sub r30,r24 |
| 3365 1b18 F109 sbc r31,__zero_reg__ |
| 3366 1b1a E050 subi r30,lo8(-(Poti)) |
| 3367 1b1c F040 sbci r31,hi8(-(Poti)) |
| 3368 1b1e 8081 ld r24,Z |
| 3369 .L289: |
| 3370 1b20 8093 0000 sts Parameter_Gyro_I,r24 |
| 3371 1b24 8091 0000 lds r24,EE_Parameter+32 |
| 3372 1b28 883F cpi r24,lo8(-8) |
| 3373 1b2a 38F0 brlo .L290 |
| 3374 1b2c EFEF ldi r30,lo8(255) |
| 3375 1b2e F0E0 ldi r31,hi8(255) |
| 3376 1b30 E81B sub r30,r24 |
| 3377 1b32 F109 sbc r31,__zero_reg__ |
| 3378 1b34 E050 subi r30,lo8(-(Poti)) |
| 3379 1b36 F040 sbci r31,hi8(-(Poti)) |
| 3380 1b38 8081 ld r24,Z |
| 3381 .L290: |
| 3382 1b3a 8093 0000 sts Parameter_Gyro_D,r24 |
| 3383 1b3e 8091 0000 lds r24,EE_Parameter+33 |
| 3384 1b42 883F cpi r24,lo8(-8) |
| 3385 1b44 38F0 brlo .L291 |
| 3386 1b46 EFEF ldi r30,lo8(255) |
| 3387 1b48 F0E0 ldi r31,hi8(255) |
| 3388 1b4a E81B sub r30,r24 |
| 3389 1b4c F109 sbc r31,__zero_reg__ |
| 3390 1b4e E050 subi r30,lo8(-(Poti)) |
| 3391 1b50 F040 sbci r31,hi8(-(Poti)) |
| 3392 1b52 8081 ld r24,Z |
| 3393 .L291: |
| 3394 1b54 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3395 1b58 8091 0000 lds r24,EE_Parameter+34 |
| 3396 1b5c 883F cpi r24,lo8(-8) |
| 3397 1b5e 38F0 brlo .L292 |
| 3398 1b60 EFEF ldi r30,lo8(255) |
| 3399 1b62 F0E0 ldi r31,hi8(255) |
| 3400 1b64 E81B sub r30,r24 |
| 3401 1b66 F109 sbc r31,__zero_reg__ |
| 3402 1b68 E050 subi r30,lo8(-(Poti)) |
| 3403 1b6a F040 sbci r31,hi8(-(Poti)) |
| 3404 1b6c 8081 ld r24,Z |
| 3405 .L292: |
| 3406 1b6e 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3407 1b72 8091 0000 lds r24,EE_Parameter+40 |
| 3408 1b76 883F cpi r24,lo8(-8) |
| 3409 1b78 38F0 brlo .L293 |
| 3410 1b7a EFEF ldi r30,lo8(255) |
| 3411 1b7c F0E0 ldi r31,hi8(255) |
| 3412 1b7e E81B sub r30,r24 |
| 3413 1b80 F109 sbc r31,__zero_reg__ |
| 3414 1b82 E050 subi r30,lo8(-(Poti)) |
| 3415 1b84 F040 sbci r31,hi8(-(Poti)) |
| 3416 1b86 8081 ld r24,Z |
| 3417 .L293: |
| 3418 1b88 8093 0000 sts Parameter_I_Faktor,r24 |
| 3419 1b8c 8091 0000 lds r24,EE_Parameter+41 |
| 3420 1b90 883F cpi r24,lo8(-8) |
| 3421 1b92 38F0 brlo .L294 |
| 3422 1b94 EFEF ldi r30,lo8(255) |
| 3423 1b96 F0E0 ldi r31,hi8(255) |
| 3424 1b98 E81B sub r30,r24 |
| 3425 1b9a F109 sbc r31,__zero_reg__ |
| 3426 1b9c E050 subi r30,lo8(-(Poti)) |
| 3427 1b9e F040 sbci r31,hi8(-(Poti)) |
| 3428 1ba0 8081 ld r24,Z |
| 3429 .L294: |
| 3430 1ba2 8093 0000 sts Parameter_UserParam1,r24 |
| 3431 1ba6 8091 0000 lds r24,EE_Parameter+42 |
| 3432 1baa 883F cpi r24,lo8(-8) |
| 3433 1bac 38F0 brlo .L295 |
| 3434 1bae EFEF ldi r30,lo8(255) |
| 3435 1bb0 F0E0 ldi r31,hi8(255) |
| 3436 1bb2 E81B sub r30,r24 |
| 3437 1bb4 F109 sbc r31,__zero_reg__ |
| 3438 1bb6 E050 subi r30,lo8(-(Poti)) |
| 3439 1bb8 F040 sbci r31,hi8(-(Poti)) |
| 3440 1bba 8081 ld r24,Z |
| 3441 .L295: |
| 3442 1bbc 8093 0000 sts Parameter_UserParam2,r24 |
| 3443 1bc0 8091 0000 lds r24,EE_Parameter+43 |
| 3444 1bc4 883F cpi r24,lo8(-8) |
| 3445 1bc6 38F0 brlo .L296 |
| 3446 1bc8 EFEF ldi r30,lo8(255) |
| 3447 1bca F0E0 ldi r31,hi8(255) |
| 3448 1bcc E81B sub r30,r24 |
| 3449 1bce F109 sbc r31,__zero_reg__ |
| 3450 1bd0 E050 subi r30,lo8(-(Poti)) |
| 3451 1bd2 F040 sbci r31,hi8(-(Poti)) |
| 3452 1bd4 8081 ld r24,Z |
| 3453 .L296: |
| 3454 1bd6 8093 0000 sts Parameter_UserParam3,r24 |
| 3455 1bda 8091 0000 lds r24,EE_Parameter+44 |
| 3456 1bde 883F cpi r24,lo8(-8) |
| 3457 1be0 38F0 brlo .L297 |
| 3458 1be2 EFEF ldi r30,lo8(255) |
| 3459 1be4 F0E0 ldi r31,hi8(255) |
| 3460 1be6 E81B sub r30,r24 |
| 3461 1be8 F109 sbc r31,__zero_reg__ |
| 3462 1bea E050 subi r30,lo8(-(Poti)) |
| 3463 1bec F040 sbci r31,hi8(-(Poti)) |
| 3464 1bee 8081 ld r24,Z |
| 3465 .L297: |
| 3466 1bf0 8093 0000 sts Parameter_UserParam4,r24 |
| 3467 1bf4 8091 0000 lds r24,EE_Parameter+68 |
| 3468 1bf8 883F cpi r24,lo8(-8) |
| 3469 1bfa 38F0 brlo .L298 |
| 3470 1bfc EFEF ldi r30,lo8(255) |
| 3471 1bfe F0E0 ldi r31,hi8(255) |
| 3472 1c00 E81B sub r30,r24 |
| 3473 1c02 F109 sbc r31,__zero_reg__ |
| 3474 1c04 E050 subi r30,lo8(-(Poti)) |
| 3475 1c06 F040 sbci r31,hi8(-(Poti)) |
| 3476 1c08 8081 ld r24,Z |
| 3477 .L298: |
| 3478 1c0a 8093 0000 sts Parameter_UserParam5,r24 |
| 3479 1c0e 8091 0000 lds r24,EE_Parameter+69 |
| 3480 1c12 883F cpi r24,lo8(-8) |
| 3481 1c14 38F0 brlo .L299 |
| 3482 1c16 EFEF ldi r30,lo8(255) |
| 3483 1c18 F0E0 ldi r31,hi8(255) |
| 3484 1c1a E81B sub r30,r24 |
| 3485 1c1c F109 sbc r31,__zero_reg__ |
| 3486 1c1e E050 subi r30,lo8(-(Poti)) |
| 3487 1c20 F040 sbci r31,hi8(-(Poti)) |
| 3488 1c22 8081 ld r24,Z |
| 3489 .L299: |
| 3490 1c24 8093 0000 sts Parameter_UserParam6,r24 |
| 3491 1c28 8091 0000 lds r24,EE_Parameter+70 |
| 3492 1c2c 883F cpi r24,lo8(-8) |
| 3493 1c2e 38F0 brlo .L300 |
| 3494 1c30 EFEF ldi r30,lo8(255) |
| 3495 1c32 F0E0 ldi r31,hi8(255) |
| 3496 1c34 E81B sub r30,r24 |
| 3497 1c36 F109 sbc r31,__zero_reg__ |
| 3498 1c38 E050 subi r30,lo8(-(Poti)) |
| 3499 1c3a F040 sbci r31,hi8(-(Poti)) |
| 3500 1c3c 8081 ld r24,Z |
| 3501 .L300: |
| 3502 1c3e 8093 0000 sts Parameter_UserParam7,r24 |
| 3503 1c42 8091 0000 lds r24,EE_Parameter+71 |
| 3504 1c46 883F cpi r24,lo8(-8) |
| 3505 1c48 38F0 brlo .L301 |
| 3506 1c4a EFEF ldi r30,lo8(255) |
| 3507 1c4c F0E0 ldi r31,hi8(255) |
| 3508 1c4e E81B sub r30,r24 |
| 3509 1c50 F109 sbc r31,__zero_reg__ |
| 3510 1c52 E050 subi r30,lo8(-(Poti)) |
| 3511 1c54 F040 sbci r31,hi8(-(Poti)) |
| 3512 1c56 8081 ld r24,Z |
| 3513 .L301: |
| 3514 1c58 8093 0000 sts Parameter_UserParam8,r24 |
| 3515 1c5c 8091 0000 lds r24,EE_Parameter+45 |
| 3516 1c60 883F cpi r24,lo8(-8) |
| 3517 1c62 38F0 brlo .L302 |
| 3518 1c64 EFEF ldi r30,lo8(255) |
| 3519 1c66 F0E0 ldi r31,hi8(255) |
| 3520 1c68 E81B sub r30,r24 |
| 3521 1c6a F109 sbc r31,__zero_reg__ |
| 3522 1c6c E050 subi r30,lo8(-(Poti)) |
| 3523 1c6e F040 sbci r31,hi8(-(Poti)) |
| 3524 1c70 8081 ld r24,Z |
| 3525 .L302: |
| 3526 1c72 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3527 1c76 8091 0000 lds r24,EE_Parameter+49 |
| 3528 1c7a 883F cpi r24,lo8(-8) |
| 3529 1c7c 38F0 brlo .L303 |
| 3530 1c7e EFEF ldi r30,lo8(255) |
| 3531 1c80 F0E0 ldi r31,hi8(255) |
| 3532 1c82 E81B sub r30,r24 |
| 3533 1c84 F109 sbc r31,__zero_reg__ |
| 3534 1c86 E050 subi r30,lo8(-(Poti)) |
| 3535 1c88 F040 sbci r31,hi8(-(Poti)) |
| 3536 1c8a 8081 ld r24,Z |
| 3537 .L303: |
| 3538 1c8c 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3539 1c90 8091 0000 lds r24,EE_Parameter+57 |
| 3540 1c94 883F cpi r24,lo8(-8) |
| 3541 1c96 38F0 brlo .L304 |
| 3542 1c98 EFEF ldi r30,lo8(255) |
| 3543 1c9a F0E0 ldi r31,hi8(255) |
| 3544 1c9c E81B sub r30,r24 |
| 3545 1c9e F109 sbc r31,__zero_reg__ |
| 3546 1ca0 E050 subi r30,lo8(-(Poti)) |
| 3547 1ca2 F040 sbci r31,hi8(-(Poti)) |
| 3548 1ca4 8081 ld r24,Z |
| 3549 .L304: |
| 3550 1ca6 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3551 1caa 8091 0000 lds r24,EE_Parameter+60 |
| 3552 1cae 883F cpi r24,lo8(-8) |
| 3553 1cb0 38F0 brlo .L305 |
| 3554 1cb2 EFEF ldi r30,lo8(255) |
| 3555 1cb4 F0E0 ldi r31,hi8(255) |
| 3556 1cb6 E81B sub r30,r24 |
| 3557 1cb8 F109 sbc r31,__zero_reg__ |
| 3558 1cba E050 subi r30,lo8(-(Poti)) |
| 3559 1cbc F040 sbci r31,hi8(-(Poti)) |
| 3560 1cbe 8081 ld r24,Z |
| 3561 .L305: |
| 3562 1cc0 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3563 1cc4 8091 0000 lds r24,EE_Parameter+61 |
| 3564 1cc8 883F cpi r24,lo8(-8) |
| 3565 1cca 38F0 brlo .L306 |
| 3566 1ccc EFEF ldi r30,lo8(255) |
| 3567 1cce F0E0 ldi r31,hi8(255) |
| 3568 1cd0 E81B sub r30,r24 |
| 3569 1cd2 F109 sbc r31,__zero_reg__ |
| 3570 1cd4 E050 subi r30,lo8(-(Poti)) |
| 3571 1cd6 F040 sbci r31,hi8(-(Poti)) |
| 3572 1cd8 8081 ld r24,Z |
| 3573 .L306: |
| 3574 1cda 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3575 1cde 8091 0000 lds r24,EE_Parameter+62 |
| 3576 1ce2 883F cpi r24,lo8(-8) |
| 3577 1ce4 38F0 brlo .L307 |
| 3578 1ce6 EFEF ldi r30,lo8(255) |
| 3579 1ce8 F0E0 ldi r31,hi8(255) |
| 3580 1cea E81B sub r30,r24 |
| 3581 1cec F109 sbc r31,__zero_reg__ |
| 3582 1cee E050 subi r30,lo8(-(Poti)) |
| 3583 1cf0 F040 sbci r31,hi8(-(Poti)) |
| 3584 1cf2 8081 ld r24,Z |
| 3585 .L307: |
| 3586 1cf4 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3587 1cf8 8091 0000 lds r24,EE_Parameter+67 |
| 3588 1cfc 883F cpi r24,lo8(-8) |
| 3589 1cfe 38F0 brlo .L308 |
| 3590 1d00 EFEF ldi r30,lo8(255) |
| 3591 1d02 F0E0 ldi r31,hi8(255) |
| 3592 1d04 E81B sub r30,r24 |
| 3593 1d06 F109 sbc r31,__zero_reg__ |
| 3594 1d08 E050 subi r30,lo8(-(Poti)) |
| 3595 1d0a F040 sbci r31,hi8(-(Poti)) |
| 3596 1d0c 8081 ld r24,Z |
| 3597 .L308: |
| 3598 1d0e 8093 0000 sts Parameter_DynamicStability,r24 |
| 3599 1d12 8091 0000 lds r24,EE_Parameter+94 |
| 3600 1d16 883F cpi r24,lo8(-8) |
| 3601 1d18 38F0 brlo .L309 |
| 3602 1d1a EFEF ldi r30,lo8(255) |
| 3603 1d1c F0E0 ldi r31,hi8(255) |
| 3604 1d1e E81B sub r30,r24 |
| 3605 1d20 F109 sbc r31,__zero_reg__ |
| 3606 1d22 E050 subi r30,lo8(-(Poti)) |
| 3607 1d24 F040 sbci r31,hi8(-(Poti)) |
| 3608 1d26 8081 ld r24,Z |
| 3609 .L309: |
| 3610 1d28 8093 0000 sts Parameter_ExternalControl,r24 |
| 3611 1d2c 8091 0000 lds r24,Parameter_I_Faktor |
| 3612 1d30 282F mov r18,r24 |
| 3613 1d32 3327 clr r19 |
| 3614 1d34 2F5F subi r18,lo8(-(1)) |
| 3615 1d36 3F4F sbci r19,hi8(-(1)) |
| 3616 1d38 8CE3 ldi r24,lo8(10300) |
| 3617 1d3a 98E2 ldi r25,hi8(10300) |
| 3618 1d3c B901 movw r22,r18 |
| 3619 1d3e 0E94 0000 call __divmodhi4 |
| 3620 1d42 7093 0000 sts (Ki)+1,r23 |
| 3621 1d46 6093 0000 sts Ki,r22 |
| 3622 1d4a 8091 0000 lds r24,EE_Parameter+27 |
| 3623 1d4e 8093 0000 sts MAX_GAS,r24 |
| 3624 1d52 8091 0000 lds r24,EE_Parameter+26 |
| 3625 1d56 8093 0000 sts MIN_GAS,r24 |
| 3626 1d5a 9091 0000 lds r25,EE_Parameter+96 |
| 3627 1d5e 9333 cpi r25,lo8(51) |
| 3628 1d60 20F1 brlo .L267 |
| 3629 1d62 81E0 ldi r24,lo8(1) |
| 3630 1d64 8093 0000 sts CareFree,r24 |
| 3631 1d68 983F cpi r25,lo8(-8) |
| 3632 1d6a 58F0 brlo .L268 |
| 3633 1d6c EFEF ldi r30,lo8(255) |
| 3634 1d6e F0E0 ldi r31,hi8(255) |
| 3635 1d70 E91B sub r30,r25 |
| 3636 1d72 F109 sbc r31,__zero_reg__ |
| 3637 1d74 E050 subi r30,lo8(-(Poti)) |
| 3638 1d76 F040 sbci r31,hi8(-(Poti)) |
| 3639 1d78 8081 ld r24,Z |
| 3640 1d7a 8233 cpi r24,lo8(50) |
| 3641 1d7c 10F4 brsh .L268 |
| 3642 1d7e 1092 0000 sts CareFree,__zero_reg__ |
| 3643 .L268: |
| 3644 1d82 8091 0000 lds r24,FromNaviCtrl+7 |
| 3645 1d86 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3646 1d8a 97FF sbrs r25,7 |
| 3647 1d8c 08C0 rjmp .L269 |
| 3648 1d8e 8091 0000 lds r24,CareFree |
| 3649 1d92 8823 tst r24 |
| 3650 1d94 21F0 breq .L269 |
| 3651 1d96 8091 0000 lds r24,VersionInfo+5 |
| 3652 1d9a 8068 ori r24,lo8(-128) |
| 3653 1d9c 03C0 rjmp .L310 |
| 3654 .L269: |
| 3655 1d9e 8091 0000 lds r24,VersionInfo+5 |
| 3656 1da2 8F77 andi r24,lo8(127) |
| 3657 .L310: |
| 3658 1da4 8093 0000 sts VersionInfo+5,r24 |
| 3659 1da8 02C0 rjmp .L271 |
| 3660 .L267: |
| 3661 1daa 1092 0000 sts CareFree,__zero_reg__ |
| 3662 .L271: |
| 3663 1dae 8091 0000 lds r24,FromNaviCtrl+7 |
| 3664 1db2 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3665 1db6 97FF sbrs r25,7 |
| 3666 1db8 1DC0 rjmp .L272 |
| 3667 1dba 8091 0000 lds r24,MotorenEin |
| 3668 1dbe 8823 tst r24 |
| 3669 1dc0 C9F0 breq .L272 |
| 3670 1dc2 8091 0000 lds r24,CareFree |
| 3671 1dc6 8823 tst r24 |
| 3672 1dc8 A9F0 breq .L272 |
| 3673 1dca 8091 0000 lds r24,BeepMuster |
| 3674 1dce 9091 0000 lds r25,(BeepMuster)+1 |
| 3675 1dd2 8F5F subi r24,lo8(-1) |
| 3676 1dd4 9F4F sbci r25,hi8(-1) |
| 3677 1dd6 71F4 brne .L272 |
| 3678 1dd8 88E9 ldi r24,lo8(15000) |
| 3679 1dda 9AE3 ldi r25,hi8(15000) |
| 3680 1ddc 9093 0000 sts (beeptime)+1,r25 |
| 3681 1de0 8093 0000 sts beeptime,r24 |
| 3682 1de4 80E0 ldi r24,lo8(-23552) |
| 3683 1de6 94EA ldi r25,hi8(-23552) |
| 3684 1de8 9093 0000 sts (BeepMuster)+1,r25 |
| 3685 1dec 8093 0000 sts BeepMuster,r24 |
| 3686 1df0 1092 0000 sts CareFree,__zero_reg__ |
| 3687 .L272: |
| 3688 1df4 8091 0000 lds r24,CareFree |
| 3689 1df8 8823 tst r24 |
| 3690 1dfa 39F0 breq .L183 |
| 3691 1dfc 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 3692 1e00 823D cpi r24,lo8(-46) |
| 3693 1e02 18F4 brsh .L183 |
| 3694 1e04 825E subi r24,lo8(-(30)) |
| 3695 1e06 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3696 .L183: |
| 3697 1e0a 0895 ret |
| 3698 /* epilogue: frame size=0 */ |
| 3699 /* epilogue: noreturn */ |
| 3700 /* epilogue end (size=0) */ |
| 3701 /* function ParameterZuordnung size 607 (607) */ |
| 3703 .lcomm sollGier.0,4 |
| 3704 .lcomm tmp_long.1,4 |
| 3705 .lcomm tmp_long2.2,4 |
| 3706 .lcomm IntegralFehlerNick.3,4 |
| 3707 .lcomm IntegralFehlerRoll.4,4 |
| 3708 .lcomm RcLostTimer.5,2 |
| 3709 .lcomm delay_neutral.6,1 |
| 3710 .lcomm delay_einschalten.7,1 |
| 3711 .lcomm delay_ausschalten.8,1 |
| 3712 .lcomm calibration_done.9,1 |
| 3713 .lcomm NeueKompassRichtungMerken.10,1 |
| 3714 .lcomm ausgleichNick.11,4 |
| 3715 .lcomm ausgleichRoll.12,4 |
| 3716 .lcomm stick_nick.13,2 |
| 3717 .lcomm stick_roll.14,2 |
| 3718 .lcomm cnt.15,2 |
| 3719 .lcomm last_n_p.16,1 |
| 3720 .lcomm last_n_n.17,1 |
| 3721 .lcomm last_r_p.18,1 |
| 3722 .lcomm last_r_n.19,1 |
| 3723 .lcomm MittelIntegralNick_Alt.20,4 |
| 3724 .lcomm MittelIntegralRoll_Alt.21,4 |
| 3725 .lcomm HeightTrimming.22,2 |
| 3726 .lcomm FilterHCGas.23,2 |
| 3727 .data |
| 3730 StickGasHover.24: |
| 3731 0027 7800 .word 120 |
| 3732 .lcomm HoverGasMin.25,2 |
| 3735 HoverGasMax.26: |
| 3736 0029 FF03 .word 1023 |
| 3737 .lcomm HoverGasFilter.27,4 |
| 3740 delay.28: |
| 3741 002b 64 .byte 100 |
| 3742 .lcomm BaroAtUpperLimit.29,1 |
| 3743 .lcomm BaroAtLowerLimit.30,1 |
| 3744 .lcomm HeightTrimmingFlag.31,1 |
| 3745 .LC0: |
| 3746 002c 00 .byte 0 |
| 3747 002d 02 .byte 2 |
| 3748 002e 04 .byte 4 |
| 3749 002f 06 .byte 6 |
| 3750 0030 07 .byte 7 |
| 3751 0031 08 .byte 8 |
| 3752 0032 08 .byte 8 |
| 3753 0033 08 .byte 8 |
| 3754 0034 07 .byte 7 |
| 3755 0035 06 .byte 6 |
| 3756 0036 04 .byte 4 |
| 3757 0037 02 .byte 2 |
| 3758 0038 00 .byte 0 |
| 3759 0039 FE .byte -2 |
| 3760 003a FC .byte -4 |
| 3761 003b FA .byte -6 |
| 3762 003c F9 .byte -7 |
| 3763 003d F8 .byte -8 |
| 3764 003e F8 .byte -8 |
| 3765 003f F8 .byte -8 |
| 3766 0040 F9 .byte -7 |
| 3767 0041 FA .byte -6 |
| 3768 0042 FC .byte -4 |
| 3769 0043 FE .byte -2 |
| 3770 0044 00 .byte 0 |
| 3771 0045 02 .byte 2 |
| 3772 0046 04 .byte 4 |
| 3773 0047 06 .byte 6 |
| 3774 0048 07 .byte 7 |
| 3775 0049 08 .byte 8 |
| 3776 004a 08 .byte 8 |
| 3777 .text |
| 3778 .global MotorRegler |
| 3780 MotorRegler: |
| 3781 /* prologue: frame size=53 */ |
| 3782 1e0c A5E3 ldi r26,lo8(53) |
| 3783 1e0e B0E0 ldi r27,hi8(53) |
| 3784 1e10 E0E0 ldi r30,pm_lo8(1f) |
| 3785 1e12 F0E0 ldi r31,pm_hi8(1f) |
| 3786 1e14 0C94 0000 jmp __prologue_saves__+0 |
| 3787 1: |
| 3788 /* prologue end (size=6) */ |
| 3789 1e18 0E94 0000 call Mittelwert |
| 3790 1e1c 3091 0000 lds r19,PlatinenVersion |
| 3791 1e20 3C30 cpi r19,lo8(12) |
| 3792 1e22 10F4 brsh .L312 |
| 3793 1e24 299A sbi 37-0x20,1 |
| 3794 1e26 01C0 rjmp .L313 |
| 3795 .L312: |
| 3796 1e28 2998 cbi 37-0x20,1 |
| 3797 .L313: |
| 3798 1e2a E090 0000 lds r14,StickGas |
| 3799 1e2e F090 0000 lds r15,(StickGas)+1 |
| 3800 1e32 F9A2 std Y+33,r15 |
| 3801 1e34 E8A2 std Y+32,r14 |
| 3802 1e36 8091 0000 lds r24,MIN_GAS |
| 3803 1e3a 9927 clr r25 |
| 3804 1e3c 0A96 adiw r24,10 |
| 3805 1e3e E816 cp r14,r24 |
| 3806 1e40 F906 cpc r15,r25 |
| 3807 1e42 14F4 brge .L314 |
| 3808 1e44 99A3 std Y+33,r25 |
| 3809 1e46 88A3 std Y+32,r24 |
| 3810 .L314: |
| 3811 1e48 8091 0000 lds r24,SenderOkay |
| 3812 1e4c 8436 cpi r24,lo8(100) |
| 3813 1e4e 08F0 brlo .+2 |
| 3814 1e50 5CC0 rjmp .L315 |
| 3815 1e52 8091 0000 lds r24,RcLostTimer.5 |
| 3816 1e56 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 3817 1e5a 0097 sbiw r24,0 |
| 3818 1e5c 31F0 breq .L316 |
| 3819 1e5e 0197 sbiw r24,1 |
| 3820 1e60 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 3821 1e64 8093 0000 sts RcLostTimer.5,r24 |
| 3822 1e68 07C0 rjmp .L317 |
| 3823 .L316: |
| 3824 1e6a 1092 0000 sts MotorenEin,__zero_reg__ |
| 3825 1e6e 8091 0000 lds r24,FCFlags |
| 3826 1e72 8F7E andi r24,lo8(-17) |
| 3827 1e74 8093 0000 sts FCFlags,r24 |
| 3828 .L317: |
| 3829 1e78 3A30 cpi r19,lo8(10) |
| 3830 1e7a 11F0 breq .L319 |
| 3831 1e7c 3431 cpi r19,lo8(20) |
| 3832 1e7e 10F0 brlo .L318 |
| 3833 .L319: |
| 3834 1e80 289A sbi 37-0x20,0 |
| 3835 1e82 01C0 rjmp .L320 |
| 3836 .L318: |
| 3837 1e84 2898 cbi 37-0x20,0 |
| 3838 .L320: |
| 3839 1e86 8091 0000 lds r24,modell_fliegt |
| 3840 1e8a 9091 0000 lds r25,(modell_fliegt)+1 |
| 3841 1e8e 895E subi r24,lo8(1001) |
| 3842 1e90 9340 sbci r25,hi8(1001) |
| 3843 1e92 C0F1 brlo .L321 |
| 3844 1e94 8091 0000 lds r24,EE_Parameter+37 |
| 3845 1e98 282F mov r18,r24 |
| 3846 1e9a 3327 clr r19 |
| 3847 1e9c 39A3 std Y+33,r19 |
| 3848 1e9e 28A3 std Y+32,r18 |
| 3849 1ea0 8091 0000 lds r24,FCFlags |
| 3850 1ea4 8061 ori r24,lo8(16) |
| 3851 1ea6 8093 0000 sts FCFlags,r24 |
| 3852 1eaa 8091 0000 lds r24,EE_Parameter+1 |
| 3853 1eae A82F mov r26,r24 |
| 3854 1eb0 BB27 clr r27 |
| 3855 1eb2 AA0F add r26,r26 |
| 3856 1eb4 BB1F adc r27,r27 |
| 3857 1eb6 FD01 movw r30,r26 |
| 3858 1eb8 E050 subi r30,lo8(-(PPM_diff)) |
| 3859 1eba F040 sbci r31,hi8(-(PPM_diff)) |
| 3860 1ebc 1182 std Z+1,__zero_reg__ |
| 3861 1ebe 1082 st Z,__zero_reg__ |
| 3862 1ec0 8091 0000 lds r24,EE_Parameter+2 |
| 3863 1ec4 282F mov r18,r24 |
| 3864 1ec6 3327 clr r19 |
| 3865 1ec8 220F add r18,r18 |
| 3866 1eca 331F adc r19,r19 |
| 3867 1ecc C901 movw r24,r18 |
| 3868 1ece 8050 subi r24,lo8(-(PPM_diff)) |
| 3869 1ed0 9040 sbci r25,hi8(-(PPM_diff)) |
| 3870 1ed2 FC01 movw r30,r24 |
| 3871 1ed4 1182 std Z+1,__zero_reg__ |
| 3872 1ed6 1082 st Z,__zero_reg__ |
| 3873 1ed8 A050 subi r26,lo8(-(PPM_in)) |
| 3874 1eda B040 sbci r27,hi8(-(PPM_in)) |
| 3875 1edc 1196 adiw r26,1 |
| 3876 1ede 1C92 st X,__zero_reg__ |
| 3877 1ee0 1E92 st -X,__zero_reg__ |
| 3878 1ee2 2050 subi r18,lo8(-(PPM_in)) |
| 3879 1ee4 3040 sbci r19,hi8(-(PPM_in)) |
| 3880 1ee6 D901 movw r26,r18 |
| 3881 1ee8 1196 adiw r26,1 |
| 3882 1eea 1C92 st X,__zero_reg__ |
| 3883 1eec 1E92 st -X,__zero_reg__ |
| 3884 1eee 8091 0000 lds r24,EE_Parameter+4 |
| 3885 1ef2 E82F mov r30,r24 |
| 3886 1ef4 FF27 clr r31 |
| 3887 1ef6 EE0F add r30,r30 |
| 3888 1ef8 FF1F adc r31,r31 |
| 3889 1efa E050 subi r30,lo8(-(PPM_in)) |
| 3890 1efc F040 sbci r31,hi8(-(PPM_in)) |
| 3891 1efe 1182 std Z+1,__zero_reg__ |
| 3892 1f00 1082 st Z,__zero_reg__ |
| 3893 1f02 AAC2 rjmp .L323 |
| 3894 .L321: |
| 3895 1f04 1092 0000 sts MotorenEin,__zero_reg__ |
| 3896 1f08 A7C2 rjmp .L323 |
| 3897 .L315: |
| 3898 1f0a 8091 0000 lds r24,SenderOkay |
| 3899 1f0e 8D38 cpi r24,lo8(-115) |
| 3900 1f10 08F4 brsh .+2 |
| 3901 1f12 A2C2 rjmp .L323 |
| 3902 1f14 8091 0000 lds r24,FCFlags |
| 3903 1f18 8F7E andi r24,lo8(-17) |
| 3904 1f1a 8093 0000 sts FCFlags,r24 |
| 3905 1f1e 9091 0000 lds r25,EE_Parameter+38 |
| 3906 1f22 82E3 ldi r24,lo8(50) |
| 3907 1f24 989F mul r25,r24 |
| 3908 1f26 C001 movw r24,r0 |
| 3909 1f28 1124 clr r1 |
| 3910 1f2a 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 3911 1f2e 8093 0000 sts RcLostTimer.5,r24 |
| 3912 1f32 E8A1 ldd r30,Y+32 |
| 3913 1f34 F9A1 ldd r31,Y+33 |
| 3914 1f36 B997 sbiw r30,41 |
| 3915 1f38 8CF0 brlt .L325 |
| 3916 1f3a 8091 0000 lds r24,MotorenEin |
| 3917 1f3e 8823 tst r24 |
| 3918 1f40 69F0 breq .L325 |
| 3919 1f42 8091 0000 lds r24,modell_fliegt |
| 3920 1f46 9091 0000 lds r25,(modell_fliegt)+1 |
| 3921 1f4a FFEF ldi r31,hi8(-1) |
| 3922 1f4c 8F3F cpi r24,lo8(-1) |
| 3923 1f4e 9F07 cpc r25,r31 |
| 3924 1f50 29F0 breq .L325 |
| 3925 1f52 0196 adiw r24,1 |
| 3926 1f54 9093 0000 sts (modell_fliegt)+1,r25 |
| 3927 1f58 8093 0000 sts modell_fliegt,r24 |
| 3928 .L325: |
| 3929 1f5c 8091 0000 lds r24,modell_fliegt |
| 3930 1f60 9091 0000 lds r25,(modell_fliegt)+1 |
| 3931 1f64 8F3F cpi r24,255 |
| 3932 1f66 9105 cpc r25,__zero_reg__ |
| 3933 1f68 09F0 breq .+2 |
| 3934 1f6a 38F5 brsh .L327 |
| 3935 1f6c 1092 0000 sts SummeNick,__zero_reg__ |
| 3936 1f70 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 3937 1f74 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 3938 1f78 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 3939 1f7c 1092 0000 sts SummeRoll,__zero_reg__ |
| 3940 1f80 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 3941 1f84 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 3942 1f88 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 3943 1f8c 1092 0000 sts sollGier.0,__zero_reg__ |
| 3944 1f90 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 3945 1f94 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 3946 1f98 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 3947 1f9c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 3948 1fa0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 3949 1fa4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 3950 1fa8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 3951 1fac 8A3F cpi r24,250 |
| 3952 1fae 9105 cpc r25,__zero_reg__ |
| 3953 1fb0 49F4 brne .L329 |
| 3954 1fb2 81E0 ldi r24,lo8(1) |
| 3955 1fb4 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
| 3956 1fb8 05C0 rjmp .L329 |
| 3957 .L327: |
| 3958 1fba 8091 0000 lds r24,FCFlags |
| 3959 1fbe 8260 ori r24,lo8(2) |
| 3960 1fc0 8093 0000 sts FCFlags,r24 |
| 3961 .L329: |
| 3962 1fc4 8091 0000 lds r24,EE_Parameter+3 |
| 3963 1fc8 E82F mov r30,r24 |
| 3964 1fca FF27 clr r31 |
| 3965 1fcc EE0F add r30,r30 |
| 3966 1fce FF1F adc r31,r31 |
| 3967 1fd0 E050 subi r30,lo8(-(PPM_in)) |
| 3968 1fd2 F040 sbci r31,hi8(-(PPM_in)) |
| 3969 1fd4 8081 ld r24,Z |
| 3970 1fd6 9181 ldd r25,Z+1 |
| 3971 1fd8 8135 cpi r24,81 |
| 3972 1fda 9105 cpc r25,__zero_reg__ |
| 3973 1fdc 0CF4 brge .+2 |
| 3974 1fde 41C1 rjmp .L330 |
| 3975 1fe0 2091 0000 lds r18,MotorenEin |
| 3976 1fe4 2223 tst r18 |
| 3977 1fe6 09F0 breq .+2 |
| 3978 1fe8 3CC1 rjmp .L330 |
| 3979 1fea 8091 0000 lds r24,EE_Parameter+4 |
| 3980 1fee E82F mov r30,r24 |
| 3981 1ff0 FF27 clr r31 |
| 3982 1ff2 EE0F add r30,r30 |
| 3983 1ff4 FF1F adc r31,r31 |
| 3984 1ff6 E050 subi r30,lo8(-(PPM_in)) |
| 3985 1ff8 F040 sbci r31,hi8(-(PPM_in)) |
| 3986 1ffa 8081 ld r24,Z |
| 3987 1ffc 9181 ldd r25,Z+1 |
| 3988 1ffe 8C34 cpi r24,76 |
| 3989 2000 9105 cpc r25,__zero_reg__ |
| 3990 2002 0CF4 brge .+2 |
| 3991 2004 06C1 rjmp .L331 |
| 3992 2006 8091 0000 lds r24,delay_neutral.6 |
| 3993 200a 8F5F subi r24,lo8(-(1)) |
| 3994 200c 8093 0000 sts delay_neutral.6,r24 |
| 3995 2010 893C cpi r24,lo8(-55) |
| 3996 2012 08F4 brsh .+2 |
| 3997 2014 26C1 rjmp .L330 |
| 3998 2016 3C30 cpi r19,lo8(12) |
| 3999 2018 10F4 brsh .L333 |
| 4000 201a 2998 cbi 37-0x20,1 |
| 4001 201c 01C0 rjmp .L334 |
| 4002 .L333: |
| 4003 201e 299A sbi 37-0x20,1 |
| 4004 .L334: |
| 4005 2020 1092 0000 sts MotorenEin,__zero_reg__ |
| 4006 2024 1092 0000 sts delay_neutral.6,__zero_reg__ |
| 4007 2028 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4008 202c 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4009 2030 3091 0000 lds r19,EE_Parameter+1 |
| 4010 2034 E32F mov r30,r19 |
| 4011 2036 FF27 clr r31 |
| 4012 2038 EE0F add r30,r30 |
| 4013 203a FF1F adc r31,r31 |
| 4014 203c E050 subi r30,lo8(-(PPM_in)) |
| 4015 203e F040 sbci r31,hi8(-(PPM_in)) |
| 4016 2040 8081 ld r24,Z |
| 4017 2042 9181 ldd r25,Z+1 |
| 4018 2044 8734 cpi r24,71 |
| 4019 2046 9105 cpc r25,__zero_reg__ |
| 4020 2048 B4F4 brge .L336 |
| 4021 204a 8091 0000 lds r24,EE_Parameter+2 |
| 4022 204e E82F mov r30,r24 |
| 4023 2050 FF27 clr r31 |
| 4024 2052 EE0F add r30,r30 |
| 4025 2054 FF1F adc r31,r31 |
| 4026 2056 E050 subi r30,lo8(-(PPM_in)) |
| 4027 2058 F040 sbci r31,hi8(-(PPM_in)) |
| 4028 205a 8081 ld r24,Z |
| 4029 205c 9181 ldd r25,Z+1 |
| 4030 205e 0190 ld __tmp_reg__,Z+ |
| 4031 2060 F081 ld r31,Z |
| 4032 2062 E02D mov r30,__tmp_reg__ |
| 4033 2064 F7FF sbrs r31,7 |
| 4034 2066 03C0 rjmp .L337 |
| 4035 2068 F095 com r31 |
| 4036 206a E195 neg r30 |
| 4037 206c FF4F sbci r31,lo8(-1) |
| 4038 .L337: |
| 4039 206e E734 cpi r30,71 |
| 4040 2070 F105 cpc r31,__zero_reg__ |
| 4041 2072 0CF4 brge .+2 |
| 4042 2074 78C0 rjmp .L335 |
| 4043 .L336: |
| 4044 2076 41E0 ldi r20,lo8(1) |
| 4045 2078 2091 0000 lds r18,EE_Parameter+2 |
| 4046 207c A22F mov r26,r18 |
| 4047 207e BB27 clr r27 |
| 4048 2080 AA0F add r26,r26 |
| 4049 2082 BB1F adc r27,r27 |
| 4050 2084 A050 subi r26,lo8(-(PPM_in)) |
| 4051 2086 B040 sbci r27,hi8(-(PPM_in)) |
| 4052 2088 8D91 ld r24,X+ |
| 4053 208a 9C91 ld r25,X |
| 4054 208c 1197 sbiw r26,1 |
| 4055 208e 8734 cpi r24,71 |
| 4056 2090 9105 cpc r25,__zero_reg__ |
| 4057 2092 44F0 brlt .L338 |
| 4058 2094 E32F mov r30,r19 |
| 4059 2096 FF27 clr r31 |
| 4060 2098 EE0F add r30,r30 |
| 4061 209a FF1F adc r31,r31 |
| 4062 209c E050 subi r30,lo8(-(PPM_in)) |
| 4063 209e F040 sbci r31,hi8(-(PPM_in)) |
| 4064 20a0 8081 ld r24,Z |
| 4065 20a2 9181 ldd r25,Z+1 |
| 4066 .L338: |
| 4067 20a4 8D91 ld r24,X+ |
| 4068 20a6 9C91 ld r25,X |
| 4069 20a8 8734 cpi r24,71 |
| 4070 20aa 9105 cpc r25,__zero_reg__ |
| 4071 20ac 74F0 brlt .L339 |
| 4072 20ae 8091 0000 lds r24,EE_Parameter+1 |
| 4073 20b2 E82F mov r30,r24 |
| 4074 20b4 FF27 clr r31 |
| 4075 20b6 EE0F add r30,r30 |
| 4076 20b8 FF1F adc r31,r31 |
| 4077 20ba E050 subi r30,lo8(-(PPM_in)) |
| 4078 20bc F040 sbci r31,hi8(-(PPM_in)) |
| 4079 20be 8081 ld r24,Z |
| 4080 20c0 9181 ldd r25,Z+1 |
| 4081 20c2 8734 cpi r24,71 |
| 4082 20c4 9105 cpc r25,__zero_reg__ |
| 4083 20c6 0CF0 brlt .L339 |
| 4084 20c8 42E0 ldi r20,lo8(2) |
| 4085 .L339: |
| 4086 20ca E22F mov r30,r18 |
| 4087 20cc FF27 clr r31 |
| 4088 20ce EE0F add r30,r30 |
| 4089 20d0 FF1F adc r31,r31 |
| 4090 20d2 E050 subi r30,lo8(-(PPM_in)) |
| 4091 20d4 F040 sbci r31,hi8(-(PPM_in)) |
| 4092 20d6 8081 ld r24,Z |
| 4093 20d8 9181 ldd r25,Z+1 |
| 4094 20da 8634 cpi r24,70 |
| 4095 20dc 9105 cpc r25,__zero_reg__ |
| 4096 20de 74F4 brge .L340 |
| 4097 20e0 8091 0000 lds r24,EE_Parameter+1 |
| 4098 20e4 E82F mov r30,r24 |
| 4099 20e6 FF27 clr r31 |
| 4100 20e8 EE0F add r30,r30 |
| 4101 20ea FF1F adc r31,r31 |
| 4102 20ec E050 subi r30,lo8(-(PPM_in)) |
| 4103 20ee F040 sbci r31,hi8(-(PPM_in)) |
| 4104 20f0 8081 ld r24,Z |
| 4105 20f2 9181 ldd r25,Z+1 |
| 4106 20f4 8734 cpi r24,71 |
| 4107 20f6 9105 cpc r25,__zero_reg__ |
| 4108 20f8 0CF0 brlt .L340 |
| 4109 20fa 43E0 ldi r20,lo8(3) |
| 4110 .L340: |
| 4111 20fc E22F mov r30,r18 |
| 4112 20fe FF27 clr r31 |
| 4113 2100 EE0F add r30,r30 |
| 4114 2102 FF1F adc r31,r31 |
| 4115 2104 E050 subi r30,lo8(-(PPM_in)) |
| 4116 2106 F040 sbci r31,hi8(-(PPM_in)) |
| 4117 2108 8081 ld r24,Z |
| 4118 210a 9181 ldd r25,Z+1 |
| 4119 210c 8A5B subi r24,lo8(-70) |
| 4120 210e 9F4F sbci r25,hi8(-70) |
| 4121 2110 74F4 brge .L341 |
| 4122 2112 8091 0000 lds r24,EE_Parameter+1 |
| 4123 2116 E82F mov r30,r24 |
| 4124 2118 FF27 clr r31 |
| 4125 211a EE0F add r30,r30 |
| 4126 211c FF1F adc r31,r31 |
| 4127 211e E050 subi r30,lo8(-(PPM_in)) |
| 4128 2120 F040 sbci r31,hi8(-(PPM_in)) |
| 4129 2122 8081 ld r24,Z |
| 4130 2124 9181 ldd r25,Z+1 |
| 4131 2126 8734 cpi r24,71 |
| 4132 2128 9105 cpc r25,__zero_reg__ |
| 4133 212a 0CF0 brlt .L341 |
| 4134 212c 44E0 ldi r20,lo8(4) |
| 4135 .L341: |
| 4136 212e E22F mov r30,r18 |
| 4137 2130 FF27 clr r31 |
| 4138 2132 EE0F add r30,r30 |
| 4139 2134 FF1F adc r31,r31 |
| 4140 2136 E050 subi r30,lo8(-(PPM_in)) |
| 4141 2138 F040 sbci r31,hi8(-(PPM_in)) |
| 4142 213a 8081 ld r24,Z |
| 4143 213c 9181 ldd r25,Z+1 |
| 4144 213e 8A5B subi r24,lo8(-70) |
| 4145 2140 9F4F sbci r25,hi8(-70) |
| 4146 2142 74F4 brge .L342 |
| 4147 2144 8091 0000 lds r24,EE_Parameter+1 |
| 4148 2148 E82F mov r30,r24 |
| 4149 214a FF27 clr r31 |
| 4150 214c EE0F add r30,r30 |
| 4151 214e FF1F adc r31,r31 |
| 4152 2150 E050 subi r30,lo8(-(PPM_in)) |
| 4153 2152 F040 sbci r31,hi8(-(PPM_in)) |
| 4154 2154 8081 ld r24,Z |
| 4155 2156 9181 ldd r25,Z+1 |
| 4156 2158 8634 cpi r24,70 |
| 4157 215a 9105 cpc r25,__zero_reg__ |
| 4158 215c 0CF4 brge .L342 |
| 4159 215e 45E0 ldi r20,lo8(5) |
| 4160 .L342: |
| 4161 2160 842F mov r24,r20 |
| 4162 2162 0E94 0000 call SetActiveParamSet |
| 4163 .L335: |
| 4164 2166 8091 0000 lds r24,EE_Parameter+2 |
| 4165 216a E82F mov r30,r24 |
| 4166 216c FF27 clr r31 |
| 4167 216e EE0F add r30,r30 |
| 4168 2170 FF1F adc r31,r31 |
| 4169 2172 E050 subi r30,lo8(-(PPM_in)) |
| 4170 2174 F040 sbci r31,hi8(-(PPM_in)) |
| 4171 2176 8081 ld r24,Z |
| 4172 2178 9181 ldd r25,Z+1 |
| 4173 217a 0190 ld __tmp_reg__,Z+ |
| 4174 217c F081 ld r31,Z |
| 4175 217e E02D mov r30,__tmp_reg__ |
| 4176 2180 F7FF sbrs r31,7 |
| 4177 2182 03C0 rjmp .L344 |
| 4178 2184 F095 com r31 |
| 4179 2186 E195 neg r30 |
| 4180 2188 FF4F sbci r31,lo8(-1) |
| 4181 .L344: |
| 4182 218a 7E97 sbiw r30,30 |
| 4183 218c BCF4 brge .L343 |
| 4184 218e 8091 0000 lds r24,EE_Parameter+1 |
| 4185 2192 E82F mov r30,r24 |
| 4186 2194 FF27 clr r31 |
| 4187 2196 EE0F add r30,r30 |
| 4188 2198 FF1F adc r31,r31 |
| 4189 219a E050 subi r30,lo8(-(PPM_in)) |
| 4190 219c F040 sbci r31,hi8(-(PPM_in)) |
| 4191 219e 8081 ld r24,Z |
| 4192 21a0 9181 ldd r25,Z+1 |
| 4193 21a2 8A5B subi r24,lo8(-70) |
| 4194 21a4 9F4F sbci r25,hi8(-70) |
| 4195 21a6 54F4 brge .L343 |
| 4196 21a8 81E0 ldi r24,lo8(1) |
| 4197 21aa 8093 0000 sts WinkelOut+6,r24 |
| 4198 21ae 88EE ldi r24,lo8(1000) |
| 4199 21b0 93E0 ldi r25,hi8(1000) |
| 4200 21b2 9093 0000 sts (beeptime)+1,r25 |
| 4201 21b6 8093 0000 sts beeptime,r24 |
| 4202 21ba 53C0 rjmp .L330 |
| 4203 .L343: |
| 4204 21bc 0E94 0000 call GetActiveParamSet |
| 4205 21c0 0E94 0000 call ParamSet_ReadFromEEProm |
| 4206 21c4 80E0 ldi r24,lo8(0) |
| 4207 21c6 0E94 0000 call LipoDetection |
| 4208 21ca 8091 0000 lds r24,EE_Parameter+39 |
| 4209 21ce 0E94 0000 call LIBFC_ReceiverInit |
| 4210 21d2 8091 0000 lds r24,EE_Parameter+13 |
| 4211 21d6 80FF sbrs r24,0 |
| 4212 21d8 10C0 rjmp .L346 |
| 4213 21da 8091 0000 lds r24,MessLuftdruck |
| 4214 21de 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4215 21e2 875B subi r24,lo8(951) |
| 4216 21e4 9340 sbci r25,hi8(951) |
| 4217 21e6 38F4 brsh .L348 |
| 4218 21e8 8091 0000 lds r24,MessLuftdruck |
| 4219 21ec 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4220 21f0 8E5E subi r24,lo8(750) |
| 4221 21f2 9240 sbci r25,hi8(750) |
| 4222 21f4 10F4 brsh .L346 |
| 4223 .L348: |
| 4224 21f6 0E94 0000 call SucheLuftruckOffset |
| 4225 .L346: |
| 4226 21fa 1092 0000 sts ServoActive,__zero_reg__ |
| 4227 21fe 80E0 ldi r24,lo8(0) |
| 4228 2200 0E94 0000 call SetNeutral |
| 4229 2204 81E0 ldi r24,lo8(1) |
| 4230 2206 8093 0000 sts calibration_done.9,r24 |
| 4231 220a 8093 0000 sts ServoActive,r24 |
| 4232 220e 579A sbi 42-0x20,7 |
| 4233 2210 1FC0 rjmp .L777 |
| 4234 .L331: |
| 4235 2212 8081 ld r24,Z |
| 4236 2214 9181 ldd r25,Z+1 |
| 4237 2216 855B subi r24,lo8(-75) |
| 4238 2218 9F4F sbci r25,hi8(-75) |
| 4239 221a 0CF5 brge .L350 |
| 4240 221c 8091 0000 lds r24,delay_neutral.6 |
| 4241 2220 8F5F subi r24,lo8(-(1)) |
| 4242 2222 8093 0000 sts delay_neutral.6,r24 |
| 4243 2226 893C cpi r24,lo8(-55) |
| 4244 2228 E0F0 brlo .L330 |
| 4245 222a 3C30 cpi r19,lo8(12) |
| 4246 222c 10F4 brsh .L352 |
| 4247 222e 2998 cbi 37-0x20,1 |
| 4248 2230 01C0 rjmp .L353 |
| 4249 .L352: |
| 4250 2232 299A sbi 37-0x20,1 |
| 4251 .L353: |
| 4252 2234 1092 0000 sts MotorenEin,__zero_reg__ |
| 4253 2238 1092 0000 sts delay_neutral.6,__zero_reg__ |
| 4254 223c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4255 2240 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4256 2244 81E0 ldi r24,lo8(1) |
| 4257 2246 0E94 0000 call SetNeutral |
| 4258 224a 81E0 ldi r24,lo8(1) |
| 4259 224c 8093 0000 sts calibration_done.9,r24 |
| 4260 .L777: |
| 4261 2250 0E94 0000 call GetActiveParamSet |
| 4262 2254 68E7 ldi r22,lo8(120) |
| 4263 2256 70E0 ldi r23,hi8(120) |
| 4264 2258 0E94 0000 call Piep |
| 4265 225c 02C0 rjmp .L330 |
| 4266 .L350: |
| 4267 225e 2093 0000 sts delay_neutral.6,r18 |
| 4268 .L330: |
| 4269 2262 8091 0000 lds r24,EE_Parameter+3 |
| 4270 2266 E82F mov r30,r24 |
| 4271 2268 FF27 clr r31 |
| 4272 226a EE0F add r30,r30 |
| 4273 226c FF1F adc r31,r31 |
| 4274 226e E050 subi r30,lo8(-(PPM_in)) |
| 4275 2270 F040 sbci r31,hi8(-(PPM_in)) |
| 4276 2272 8081 ld r24,Z |
| 4277 2274 9181 ldd r25,Z+1 |
| 4278 2276 8B5A subi r24,lo8(-85) |
| 4279 2278 9F4F sbci r25,hi8(-85) |
| 4280 227a 0CF0 brlt .+2 |
| 4281 227c EDC0 rjmp .L323 |
| 4282 227e 2091 0000 lds r18,MotorenEin |
| 4283 2282 E091 0000 lds r30,EE_Parameter+4 |
| 4284 2286 2223 tst r18 |
| 4285 2288 09F0 breq .+2 |
| 4286 228a CAC0 rjmp .L356 |
| 4287 228c FF27 clr r31 |
| 4288 228e EE0F add r30,r30 |
| 4289 2290 FF1F adc r31,r31 |
| 4290 2292 E050 subi r30,lo8(-(PPM_in)) |
| 4291 2294 F040 sbci r31,hi8(-(PPM_in)) |
| 4292 2296 8081 ld r24,Z |
| 4293 2298 9181 ldd r25,Z+1 |
| 4294 229a 855B subi r24,lo8(-75) |
| 4295 229c 9F4F sbci r25,hi8(-75) |
| 4296 229e 0CF0 brlt .+2 |
| 4297 22a0 BCC0 rjmp .L357 |
| 4298 22a2 8091 0000 lds r24,delay_einschalten.7 |
| 4299 22a6 8F5F subi r24,lo8(-(1)) |
| 4300 22a8 8093 0000 sts delay_einschalten.7,r24 |
| 4301 22ac 893C cpi r24,lo8(-55) |
| 4302 22ae 08F4 brsh .+2 |
| 4303 22b0 D3C0 rjmp .L323 |
| 4304 22b2 2093 0000 sts delay_einschalten.7,r18 |
| 4305 22b6 8091 0000 lds r24,VersionInfo+5 |
| 4306 22ba 8823 tst r24 |
| 4307 22bc 09F0 breq .+2 |
| 4308 22be A6C0 rjmp .L359 |
| 4309 22c0 8091 0000 lds r24,calibration_done.9 |
| 4310 22c4 8823 tst r24 |
| 4311 22c6 09F4 brne .+2 |
| 4312 22c8 A1C0 rjmp .L359 |
| 4313 22ca 81E0 ldi r24,lo8(1) |
| 4314 22cc 90E0 ldi r25,hi8(1) |
| 4315 22ce 9093 0000 sts (modell_fliegt)+1,r25 |
| 4316 22d2 8093 0000 sts modell_fliegt,r24 |
| 4317 22d6 81E0 ldi r24,lo8(1) |
| 4318 22d8 8093 0000 sts MotorenEin,r24 |
| 4319 22dc 1092 0000 sts sollGier.0,__zero_reg__ |
| 4320 22e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4321 22e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4322 22e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4323 22ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4324 22f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4325 22f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4326 22f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4327 22fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4328 2300 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4329 2304 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4330 2308 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4331 230c 8091 0000 lds r24,EE_Parameter+28 |
| 4332 2310 E82E mov r14,r24 |
| 4333 2312 FF24 clr r15 |
| 4334 2314 0027 clr r16 |
| 4335 2316 1127 clr r17 |
| 4336 2318 8091 0000 lds r24,Mittelwert_AccNick |
| 4337 231c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4338 2320 9C01 movw r18,r24 |
| 4339 2322 4427 clr r20 |
| 4340 2324 37FD sbrc r19,7 |
| 4341 2326 4095 com r20 |
| 4342 2328 542F mov r21,r20 |
| 4343 232a C801 movw r24,r16 |
| 4344 232c B701 movw r22,r14 |
| 4345 232e 0E94 0000 call __mulsi3 |
| 4346 2332 DC01 movw r26,r24 |
| 4347 2334 CB01 movw r24,r22 |
| 4348 2336 8093 0000 sts Mess_IntegralNick,r24 |
| 4349 233a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4350 233e A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4351 2342 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4352 2346 8091 0000 lds r24,Mittelwert_AccRoll |
| 4353 234a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4354 234e 9C01 movw r18,r24 |
| 4355 2350 4427 clr r20 |
| 4356 2352 37FD sbrc r19,7 |
| 4357 2354 4095 com r20 |
| 4358 2356 542F mov r21,r20 |
| 4359 2358 C801 movw r24,r16 |
| 4360 235a B701 movw r22,r14 |
| 4361 235c 0E94 0000 call __mulsi3 |
| 4362 2360 DC01 movw r26,r24 |
| 4363 2362 CB01 movw r24,r22 |
| 4364 2364 8093 0000 sts Mess_IntegralRoll,r24 |
| 4365 2368 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4366 236c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4367 2370 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4368 2374 8091 0000 lds r24,IntegralNick |
| 4369 2378 9091 0000 lds r25,(IntegralNick)+1 |
| 4370 237c A091 0000 lds r26,(IntegralNick)+2 |
| 4371 2380 B091 0000 lds r27,(IntegralNick)+3 |
| 4372 2384 8093 0000 sts Mess_IntegralNick2,r24 |
| 4373 2388 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4374 238c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4375 2390 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4376 2394 8091 0000 lds r24,IntegralRoll |
| 4377 2398 9091 0000 lds r25,(IntegralRoll)+1 |
| 4378 239c A091 0000 lds r26,(IntegralRoll)+2 |
| 4379 23a0 B091 0000 lds r27,(IntegralRoll)+3 |
| 4380 23a4 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4381 23a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4382 23ac A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4383 23b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4384 23b4 1092 0000 sts SummeNick,__zero_reg__ |
| 4385 23b8 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4386 23bc 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4387 23c0 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4388 23c4 1092 0000 sts SummeRoll,__zero_reg__ |
| 4389 23c8 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4390 23cc 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4391 23d0 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4392 23d4 8091 0000 lds r24,FCFlags |
| 4393 23d8 8860 ori r24,lo8(8) |
| 4394 23da 8093 0000 sts FCFlags,r24 |
| 4395 23de 9091 0000 lds r25,EE_Parameter+95 |
| 4396 23e2 8FE0 ldi r24,lo8(15) |
| 4397 23e4 989F mul r25,r24 |
| 4398 23e6 9001 movw r18,r0 |
| 4399 23e8 1124 clr r1 |
| 4400 23ea 8091 0000 lds r24,KompassValue |
| 4401 23ee 9091 0000 lds r25,(KompassValue)+1 |
| 4402 23f2 820F add r24,r18 |
| 4403 23f4 931F adc r25,r19 |
| 4404 23f6 68E6 ldi r22,lo8(360) |
| 4405 23f8 71E0 ldi r23,hi8(360) |
| 4406 23fa 0E94 0000 call __divmodhi4 |
| 4407 23fe 97FD sbrc r25,7 |
| 4408 2400 0196 adiw r24,1 |
| 4409 .L360: |
| 4410 2402 9595 asr r25 |
| 4411 2404 8795 ror r24 |
| 4412 2406 8093 0000 sts ControlHeading,r24 |
| 4413 240a 26C0 rjmp .L323 |
| 4414 .L359: |
| 4415 240c 8CED ldi r24,lo8(1500) |
| 4416 240e 95E0 ldi r25,hi8(1500) |
| 4417 2410 9093 0000 sts (beeptime)+1,r25 |
| 4418 2414 8093 0000 sts beeptime,r24 |
| 4419 2418 1FC0 rjmp .L323 |
| 4420 .L357: |
| 4421 241a 2093 0000 sts delay_einschalten.7,r18 |
| 4422 241e 1CC0 rjmp .L323 |
| 4423 .L356: |
| 4424 2420 FF27 clr r31 |
| 4425 2422 EE0F add r30,r30 |
| 4426 2424 FF1F adc r31,r31 |
| 4427 2426 E050 subi r30,lo8(-(PPM_in)) |
| 4428 2428 F040 sbci r31,hi8(-(PPM_in)) |
| 4429 242a 8081 ld r24,Z |
| 4430 242c 9181 ldd r25,Z+1 |
| 4431 242e 8C34 cpi r24,76 |
| 4432 2430 9105 cpc r25,__zero_reg__ |
| 4433 2432 84F0 brlt .L364 |
| 4434 2434 8091 0000 lds r24,delay_ausschalten.8 |
| 4435 2438 8F5F subi r24,lo8(-(1)) |
| 4436 243a 8093 0000 sts delay_ausschalten.8,r24 |
| 4437 243e 893C cpi r24,lo8(-55) |
| 4438 2440 58F0 brlo .L323 |
| 4439 2442 1092 0000 sts MotorenEin,__zero_reg__ |
| 4440 2446 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4441 244a 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4442 244e 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4443 2452 02C0 rjmp .L323 |
| 4444 .L364: |
| 4445 2454 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4446 .L323: |
| 4447 2458 8091 0000 lds r24,NewPpmData |
| 4448 245c 8150 subi r24,lo8(-(-1)) |
| 4449 245e 8093 0000 sts NewPpmData,r24 |
| 4450 2462 8091 0000 lds r24,NewPpmData |
| 4451 2466 8F3F cpi r24,lo8(-1) |
| 4452 2468 21F0 breq .L368 |
| 4453 246a 8091 0000 lds r24,FCFlags |
| 4454 246e 84FF sbrs r24,4 |
| 4455 2470 82C3 rjmp .L367 |
| 4456 .L368: |
| 4457 2472 0E94 0000 call ParameterZuordnung |
| 4458 2476 8091 0000 lds r24,stick_nick.13 |
| 4459 247a 9091 0000 lds r25,(stick_nick.13)+1 |
| 4460 247e 9C01 movw r18,r24 |
| 4461 2480 220F lsl r18 |
| 4462 2482 331F rol r19 |
| 4463 2484 280F add r18,r24 |
| 4464 2486 391F adc r19,r25 |
| 4465 2488 A090 0000 lds r10,EE_Parameter+1 |
| 4466 248c AA2D mov r26,r10 |
| 4467 248e BB27 clr r27 |
| 4468 2490 AA0F add r26,r26 |
| 4469 2492 BB1F adc r27,r27 |
| 4470 2494 FD01 movw r30,r26 |
| 4471 2496 E050 subi r30,lo8(-(PPM_in)) |
| 4472 2498 F040 sbci r31,hi8(-(PPM_in)) |
| 4473 249a 9090 0000 lds r9,EE_Parameter+23 |
| 4474 249e 492D mov r20,r9 |
| 4475 24a0 5527 clr r21 |
| 4476 24a2 8081 ld r24,Z |
| 4477 24a4 9181 ldd r25,Z+1 |
| 4478 24a6 849F mul r24,r20 |
| 4479 24a8 F001 movw r30,r0 |
| 4480 24aa 859F mul r24,r21 |
| 4481 24ac F00D add r31,r0 |
| 4482 24ae 949F mul r25,r20 |
| 4483 24b0 F00D add r31,r0 |
| 4484 24b2 1124 clr r1 |
| 4485 24b4 2E0F add r18,r30 |
| 4486 24b6 3F1F adc r19,r31 |
| 4487 24b8 37FF sbrs r19,7 |
| 4488 24ba 02C0 rjmp .L369 |
| 4489 24bc 2D5F subi r18,lo8(-(3)) |
| 4490 24be 3F4F sbci r19,hi8(-(3)) |
| 4491 .L369: |
| 4492 24c0 B901 movw r22,r18 |
| 4493 24c2 7595 asr r23 |
| 4494 24c4 6795 ror r22 |
| 4495 24c6 7595 asr r23 |
| 4496 24c8 6795 ror r22 |
| 4497 24ca A050 subi r26,lo8(-(PPM_diff)) |
| 4498 24cc B040 sbci r27,hi8(-(PPM_diff)) |
| 4499 24ce 8091 0000 lds r24,EE_Parameter+24 |
| 4500 24d2 082F mov r16,r24 |
| 4501 24d4 1127 clr r17 |
| 4502 24d6 8D91 ld r24,X+ |
| 4503 24d8 9C91 ld r25,X |
| 4504 24da 809F mul r24,r16 |
| 4505 24dc 7001 movw r14,r0 |
| 4506 24de 819F mul r24,r17 |
| 4507 24e0 F00C add r15,r0 |
| 4508 24e2 909F mul r25,r16 |
| 4509 24e4 F00C add r15,r0 |
| 4510 24e6 1124 clr r1 |
| 4511 24e8 6E0D add r22,r14 |
| 4512 24ea 7F1D adc r23,r15 |
| 4513 24ec 7093 0000 sts (stick_nick.13)+1,r23 |
| 4514 24f0 6093 0000 sts stick_nick.13,r22 |
| 4515 24f4 8091 0000 lds r24,stick_roll.14 |
| 4516 24f8 9091 0000 lds r25,(stick_roll.14)+1 |
| 4517 24fc 9C01 movw r18,r24 |
| 4518 24fe 220F lsl r18 |
| 4519 2500 331F rol r19 |
| 4520 2502 280F add r18,r24 |
| 4521 2504 391F adc r19,r25 |
| 4522 2506 B090 0000 lds r11,EE_Parameter+2 |
| 4523 250a AB2D mov r26,r11 |
| 4524 250c BB27 clr r27 |
| 4525 250e AA0F add r26,r26 |
| 4526 2510 BB1F adc r27,r27 |
| 4527 2512 FD01 movw r30,r26 |
| 4528 2514 E050 subi r30,lo8(-(PPM_in)) |
| 4529 2516 F040 sbci r31,hi8(-(PPM_in)) |
| 4530 2518 8081 ld r24,Z |
| 4531 251a 9181 ldd r25,Z+1 |
| 4532 251c 849F mul r24,r20 |
| 4533 251e F001 movw r30,r0 |
| 4534 2520 859F mul r24,r21 |
| 4535 2522 F00D add r31,r0 |
| 4536 2524 949F mul r25,r20 |
| 4537 2526 F00D add r31,r0 |
| 4538 2528 1124 clr r1 |
| 4539 252a 2E0F add r18,r30 |
| 4540 252c 3F1F adc r19,r31 |
| 4541 252e 37FF sbrs r19,7 |
| 4542 2530 02C0 rjmp .L370 |
| 4543 2532 2D5F subi r18,lo8(-(3)) |
| 4544 2534 3F4F sbci r19,hi8(-(3)) |
| 4545 .L370: |
| 4546 2536 A901 movw r20,r18 |
| 4547 2538 5595 asr r21 |
| 4548 253a 4795 ror r20 |
| 4549 253c 5595 asr r21 |
| 4550 253e 4795 ror r20 |
| 4551 2540 A050 subi r26,lo8(-(PPM_diff)) |
| 4552 2542 B040 sbci r27,hi8(-(PPM_diff)) |
| 4553 2544 8D91 ld r24,X+ |
| 4554 2546 9C91 ld r25,X |
| 4555 2548 809F mul r24,r16 |
| 4556 254a 7001 movw r14,r0 |
| 4557 254c 819F mul r24,r17 |
| 4558 254e F00C add r15,r0 |
| 4559 2550 909F mul r25,r16 |
| 4560 2552 F00C add r15,r0 |
| 4561 2554 1124 clr r1 |
| 4562 2556 4E0D add r20,r14 |
| 4563 2558 5F1D adc r21,r15 |
| 4564 255a 5093 0000 sts (stick_roll.14)+1,r21 |
| 4565 255e 4093 0000 sts stick_roll.14,r20 |
| 4566 2562 9E01 movw r18,r28 |
| 4567 2564 2F5F subi r18,lo8(-(1)) |
| 4568 2566 3F4F sbci r19,hi8(-(1)) |
| 4569 2568 8FE1 ldi r24,lo8(31) |
| 4570 256a E0E0 ldi r30,lo8(.LC0) |
| 4571 256c F0E0 ldi r31,hi8(.LC0) |
| 4572 256e D901 movw r26,r18 |
| 4573 2570 0190 ld __tmp_reg__,Z+ |
| 4574 2572 0D92 st X+,__tmp_reg__ |
| 4575 2574 8A95 dec r24 |
| 4576 2576 E1F7 brne .-8 |
| 4577 2578 8091 0000 lds r24,CareFree |
| 4578 257c 8823 tst r24 |
| 4579 257e 09F4 brne .+2 |
| 4580 2580 48C0 rjmp .L371 |
| 4581 2582 CB01 movw r24,r22 |
| 4582 2584 77FD sbrc r23,7 |
| 4583 2586 0396 adiw r24,3 |
| 4584 .L372: |
| 4585 2588 DC01 movw r26,r24 |
| 4586 258a B595 asr r27 |
| 4587 258c A795 ror r26 |
| 4588 258e B595 asr r27 |
| 4589 2590 A795 ror r26 |
| 4590 2592 CA01 movw r24,r20 |
| 4591 2594 57FD sbrc r21,7 |
| 4592 2596 0396 adiw r24,3 |
| 4593 .L373: |
| 4594 2598 FC01 movw r30,r24 |
| 4595 259a F595 asr r31 |
| 4596 259c E795 ror r30 |
| 4597 259e F595 asr r31 |
| 4598 25a0 E795 ror r30 |
| 4599 25a2 8091 0000 lds r24,FromNC_Rotate_C |
| 4600 25a6 682F mov r22,r24 |
| 4601 25a8 7727 clr r23 |
| 4602 25aa 67FD sbrc r22,7 |
| 4603 25ac 7095 com r23 |
| 4604 25ae 6A9F mul r22,r26 |
| 4605 25b0 9001 movw r18,r0 |
| 4606 25b2 6B9F mul r22,r27 |
| 4607 25b4 300D add r19,r0 |
| 4608 25b6 7A9F mul r23,r26 |
| 4609 25b8 300D add r19,r0 |
| 4610 25ba 1124 clr r1 |
| 4611 25bc 8091 0000 lds r24,FromNC_Rotate_S |
| 4612 25c0 482F mov r20,r24 |
| 4613 25c2 5527 clr r21 |
| 4614 25c4 47FD sbrc r20,7 |
| 4615 25c6 5095 com r21 |
| 4616 25c8 4E9F mul r20,r30 |
| 4617 25ca C001 movw r24,r0 |
| 4618 25cc 4F9F mul r20,r31 |
| 4619 25ce 900D add r25,r0 |
| 4620 25d0 5E9F mul r21,r30 |
| 4621 25d2 900D add r25,r0 |
| 4622 25d4 1124 clr r1 |
| 4623 25d6 280F add r18,r24 |
| 4624 25d8 391F adc r19,r25 |
| 4625 25da 37FF sbrs r19,7 |
| 4626 25dc 02C0 rjmp .L374 |
| 4627 25de 295F subi r18,lo8(-(7)) |
| 4628 25e0 3F4F sbci r19,hi8(-(7)) |
| 4629 .L374: |
| 4630 25e2 03E0 ldi r16,3 |
| 4631 25e4 3595 1: asr r19 |
| 4632 25e6 2795 ror r18 |
| 4633 25e8 0A95 dec r16 |
| 4634 25ea E1F7 brne 1b |
| 4635 25ec 3093 0000 sts (StickNick)+1,r19 |
| 4636 25f0 2093 0000 sts StickNick,r18 |
| 4637 25f4 6E9F mul r22,r30 |
| 4638 25f6 9001 movw r18,r0 |
| 4639 25f8 6F9F mul r22,r31 |
| 4640 25fa 300D add r19,r0 |
| 4641 25fc 7E9F mul r23,r30 |
| 4642 25fe 300D add r19,r0 |
| 4643 2600 1124 clr r1 |
| 4644 2602 4A9F mul r20,r26 |
| 4645 2604 C001 movw r24,r0 |
| 4646 2606 4B9F mul r20,r27 |
| 4647 2608 900D add r25,r0 |
| 4648 260a 5A9F mul r21,r26 |
| 4649 260c 900D add r25,r0 |
| 4650 260e 1124 clr r1 |
| 4651 2610 44C0 rjmp .L803 |
| 4652 .L371: |
| 4653 2612 8091 0000 lds r24,EE_Parameter+95 |
| 4654 2616 082F mov r16,r24 |
| 4655 2618 1127 clr r17 |
| 4656 261a DE01 movw r26,r28 |
| 4657 261c A00F add r26,r16 |
| 4658 261e B11F adc r27,r17 |
| 4659 2620 FD01 movw r30,r26 |
| 4660 2622 9781 ldd r25,Z+7 |
| 4661 2624 9093 0000 sts FromNC_Rotate_C,r25 |
| 4662 2628 020F add r16,r18 |
| 4663 262a 131F adc r17,r19 |
| 4664 262c D801 movw r26,r16 |
| 4665 262e 8C91 ld r24,X |
| 4666 2630 8093 0000 sts FromNC_Rotate_S,r24 |
| 4667 2634 A92F mov r26,r25 |
| 4668 2636 BB27 clr r27 |
| 4669 2638 A7FD sbrc r26,7 |
| 4670 263a B095 com r27 |
| 4671 263c A69F mul r26,r22 |
| 4672 263e 9001 movw r18,r0 |
| 4673 2640 A79F mul r26,r23 |
| 4674 2642 300D add r19,r0 |
| 4675 2644 B69F mul r27,r22 |
| 4676 2646 300D add r19,r0 |
| 4677 2648 1124 clr r1 |
| 4678 264a E82F mov r30,r24 |
| 4679 264c FF27 clr r31 |
| 4680 264e E7FD sbrc r30,7 |
| 4681 2650 F095 com r31 |
| 4682 2652 E49F mul r30,r20 |
| 4683 2654 C001 movw r24,r0 |
| 4684 2656 E59F mul r30,r21 |
| 4685 2658 900D add r25,r0 |
| 4686 265a F49F mul r31,r20 |
| 4687 265c 900D add r25,r0 |
| 4688 265e 1124 clr r1 |
| 4689 2660 280F add r18,r24 |
| 4690 2662 391F adc r19,r25 |
| 4691 2664 37FF sbrs r19,7 |
| 4692 2666 02C0 rjmp .L377 |
| 4693 2668 295F subi r18,lo8(-(7)) |
| 4694 266a 3F4F sbci r19,hi8(-(7)) |
| 4695 .L377: |
| 4696 266c 13E0 ldi r17,3 |
| 4697 266e 3595 1: asr r19 |
| 4698 2670 2795 ror r18 |
| 4699 2672 1A95 dec r17 |
| 4700 2674 E1F7 brne 1b |
| 4701 2676 3093 0000 sts (StickNick)+1,r19 |
| 4702 267a 2093 0000 sts StickNick,r18 |
| 4703 267e A49F mul r26,r20 |
| 4704 2680 9001 movw r18,r0 |
| 4705 2682 A59F mul r26,r21 |
| 4706 2684 300D add r19,r0 |
| 4707 2686 B49F mul r27,r20 |
| 4708 2688 300D add r19,r0 |
| 4709 268a 1124 clr r1 |
| 4710 268c E69F mul r30,r22 |
| 4711 268e C001 movw r24,r0 |
| 4712 2690 E79F mul r30,r23 |
| 4713 2692 900D add r25,r0 |
| 4714 2694 F69F mul r31,r22 |
| 4715 2696 900D add r25,r0 |
| 4716 2698 1124 clr r1 |
| 4717 .L803: |
| 4718 269a 281B sub r18,r24 |
| 4719 269c 390B sbc r19,r25 |
| 4720 269e 37FF sbrs r19,7 |
| 4721 26a0 02C0 rjmp .L378 |
| 4722 26a2 295F subi r18,lo8(-(7)) |
| 4723 26a4 3F4F sbci r19,hi8(-(7)) |
| 4724 .L378: |
| 4725 26a6 F3E0 ldi r31,3 |
| 4726 26a8 3595 1: asr r19 |
| 4727 26aa 2795 ror r18 |
| 4728 26ac FA95 dec r31 |
| 4729 26ae E1F7 brne 1b |
| 4730 26b0 3093 0000 sts (StickRoll)+1,r19 |
| 4731 26b4 2093 0000 sts StickRoll,r18 |
| 4732 26b8 8091 0000 lds r24,EE_Parameter+4 |
| 4733 26bc E82F mov r30,r24 |
| 4734 26be FF27 clr r31 |
| 4735 26c0 EE0F add r30,r30 |
| 4736 26c2 FF1F adc r31,r31 |
| 4737 26c4 E050 subi r30,lo8(-(PPM_in)) |
| 4738 26c6 F040 sbci r31,hi8(-(PPM_in)) |
| 4739 26c8 8081 ld r24,Z |
| 4740 26ca 9181 ldd r25,Z+1 |
| 4741 26cc 9095 com r25 |
| 4742 26ce 8195 neg r24 |
| 4743 26d0 9F4F sbci r25,lo8(-1) |
| 4744 26d2 9093 0000 sts (StickGier)+1,r25 |
| 4745 26d6 8093 0000 sts StickGier,r24 |
| 4746 26da 8330 cpi r24,3 |
| 4747 26dc 9105 cpc r25,__zero_reg__ |
| 4748 26de 14F0 brlt .L379 |
| 4749 26e0 0297 sbiw r24,2 |
| 4750 26e2 05C0 rjmp .L778 |
| 4751 .L379: |
| 4752 26e4 BFEF ldi r27,hi8(-2) |
| 4753 26e6 8E3F cpi r24,lo8(-2) |
| 4754 26e8 9B07 cpc r25,r27 |
| 4755 26ea 34F4 brge .L381 |
| 4756 26ec 0296 adiw r24,2 |
| 4757 .L778: |
| 4758 26ee 9093 0000 sts (StickGier)+1,r25 |
| 4759 26f2 8093 0000 sts StickGier,r24 |
| 4760 26f6 04C0 rjmp .L380 |
| 4761 .L381: |
| 4762 26f8 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 4763 26fc 1092 0000 sts StickGier,__zero_reg__ |
| 4764 .L380: |
| 4765 2700 8091 0000 lds r24,GPS_Nick |
| 4766 2704 9091 0000 lds r25,(GPS_Nick)+1 |
| 4767 2708 2091 0000 lds r18,GPS_Nick2 |
| 4768 270c 3091 0000 lds r19,(GPS_Nick2)+1 |
| 4769 2710 820F add r24,r18 |
| 4770 2712 931F adc r25,r19 |
| 4771 2714 C090 0000 lds r12,StickNick |
| 4772 2718 D090 0000 lds r13,(StickNick)+1 |
| 4773 271c C81A sub r12,r24 |
| 4774 271e D90A sbc r13,r25 |
| 4775 2720 D092 0000 sts (StickNick)+1,r13 |
| 4776 2724 C092 0000 sts StickNick,r12 |
| 4777 2728 8091 0000 lds r24,GPS_Roll |
| 4778 272c 9091 0000 lds r25,(GPS_Roll)+1 |
| 4779 2730 2091 0000 lds r18,GPS_Roll2 |
| 4780 2734 3091 0000 lds r19,(GPS_Roll2)+1 |
| 4781 2738 820F add r24,r18 |
| 4782 273a 931F adc r25,r19 |
| 4783 273c 0091 0000 lds r16,StickRoll |
| 4784 2740 1091 0000 lds r17,(StickRoll)+1 |
| 4785 2744 081B sub r16,r24 |
| 4786 2746 190B sbc r17,r25 |
| 4787 2748 1093 0000 sts (StickRoll)+1,r17 |
| 4788 274c 0093 0000 sts StickRoll,r16 |
| 4789 2750 8091 0000 lds r24,EE_Parameter+3 |
| 4790 2754 E82F mov r30,r24 |
| 4791 2756 FF27 clr r31 |
| 4792 2758 EE0F add r30,r30 |
| 4793 275a FF1F adc r31,r31 |
| 4794 275c E050 subi r30,lo8(-(PPM_in)) |
| 4795 275e F040 sbci r31,hi8(-(PPM_in)) |
| 4796 2760 E080 ld r14,Z |
| 4797 2762 F180 ldd r15,Z+1 |
| 4798 2764 E8E7 ldi r30,lo8(120) |
| 4799 2766 F0E0 ldi r31,hi8(120) |
| 4800 2768 EE0E add r14,r30 |
| 4801 276a FF1E adc r15,r31 |
| 4802 276c F092 0000 sts (StickGas)+1,r15 |
| 4803 2770 E092 0000 sts StickGas,r14 |
| 4804 2774 8091 0000 lds r24,Parameter_Gyro_P |
| 4805 2778 9927 clr r25 |
| 4806 277a AA27 clr r26 |
| 4807 277c 97FD sbrc r25,7 |
| 4808 277e A095 com r26 |
| 4809 2780 BA2F mov r27,r26 |
| 4810 2782 BC01 movw r22,r24 |
| 4811 2784 CD01 movw r24,r26 |
| 4812 2786 0E94 0000 call __floatsisf |
| 4813 278a DC01 movw r26,r24 |
| 4814 278c CB01 movw r24,r22 |
| 4815 278e 20E0 ldi r18,lo8(0x41200000) |
| 4816 2790 30E0 ldi r19,hi8(0x41200000) |
| 4817 2792 40E2 ldi r20,hlo8(0x41200000) |
| 4818 2794 51E4 ldi r21,hhi8(0x41200000) |
| 4819 2796 BC01 movw r22,r24 |
| 4820 2798 CD01 movw r24,r26 |
| 4821 279a 0E94 0000 call __addsf3 |
| 4822 279e DC01 movw r26,r24 |
| 4823 27a0 CB01 movw r24,r22 |
| 4824 27a2 BC01 movw r22,r24 |
| 4825 27a4 CD01 movw r24,r26 |
| 4826 27a6 0E94 0000 call __fixunssfsi |
| 4827 27aa DC01 movw r26,r24 |
| 4828 27ac CB01 movw r24,r22 |
| 4829 27ae 8093 0000 sts GyroFaktor,r24 |
| 4830 27b2 8091 0000 lds r24,Parameter_Gyro_I |
| 4831 27b6 8093 0000 sts IntegralFaktor,r24 |
| 4832 27ba 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 4833 27be 9927 clr r25 |
| 4834 27c0 AA27 clr r26 |
| 4835 27c2 97FD sbrc r25,7 |
| 4836 27c4 A095 com r26 |
| 4837 27c6 BA2F mov r27,r26 |
| 4838 27c8 BC01 movw r22,r24 |
| 4839 27ca CD01 movw r24,r26 |
| 4840 27cc 0E94 0000 call __floatsisf |
| 4841 27d0 DC01 movw r26,r24 |
| 4842 27d2 CB01 movw r24,r22 |
| 4843 27d4 20E0 ldi r18,lo8(0x41200000) |
| 4844 27d6 30E0 ldi r19,hi8(0x41200000) |
| 4845 27d8 40E2 ldi r20,hlo8(0x41200000) |
| 4846 27da 51E4 ldi r21,hhi8(0x41200000) |
| 4847 27dc BC01 movw r22,r24 |
| 4848 27de CD01 movw r24,r26 |
| 4849 27e0 0E94 0000 call __addsf3 |
| 4850 27e4 DC01 movw r26,r24 |
| 4851 27e6 CB01 movw r24,r22 |
| 4852 27e8 BC01 movw r22,r24 |
| 4853 27ea CD01 movw r24,r26 |
| 4854 27ec 0E94 0000 call __fixunssfsi |
| 4855 27f0 DC01 movw r26,r24 |
| 4856 27f2 CB01 movw r24,r22 |
| 4857 27f4 8093 0000 sts GyroFaktorGier,r24 |
| 4858 27f8 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 4859 27fc 8093 0000 sts IntegralFaktorGier,r24 |
| 4860 2800 8091 0000 lds r24,ExternControl+10 |
| 4861 2804 80FF sbrs r24,0 |
| 4862 2806 59C0 rjmp .L383 |
| 4863 2808 8091 0000 lds r24,Parameter_ExternalControl |
| 4864 280c 8138 cpi r24,lo8(-127) |
| 4865 280e 08F4 brsh .+2 |
| 4866 2810 54C0 rjmp .L383 |
| 4867 2812 8091 0000 lds r24,ExternControl+3 |
| 4868 2816 9927 clr r25 |
| 4869 2818 87FD sbrc r24,7 |
| 4870 281a 9095 com r25 |
| 4871 281c 292D mov r18,r9 |
| 4872 281e 3327 clr r19 |
| 4873 2820 829F mul r24,r18 |
| 4874 2822 A001 movw r20,r0 |
| 4875 2824 839F mul r24,r19 |
| 4876 2826 500D add r21,r0 |
| 4877 2828 929F mul r25,r18 |
| 4878 282a 500D add r21,r0 |
| 4879 282c 1124 clr r1 |
| 4880 282e C40E add r12,r20 |
| 4881 2830 D51E adc r13,r21 |
| 4882 2832 D092 0000 sts (StickNick)+1,r13 |
| 4883 2836 C092 0000 sts StickNick,r12 |
| 4884 283a 8091 0000 lds r24,ExternControl+4 |
| 4885 283e 9927 clr r25 |
| 4886 2840 87FD sbrc r24,7 |
| 4887 2842 9095 com r25 |
| 4888 2844 829F mul r24,r18 |
| 4889 2846 B001 movw r22,r0 |
| 4890 2848 839F mul r24,r19 |
| 4891 284a 700D add r23,r0 |
| 4892 284c 929F mul r25,r18 |
| 4893 284e 700D add r23,r0 |
| 4894 2850 1124 clr r1 |
| 4895 2852 060F add r16,r22 |
| 4896 2854 171F adc r17,r23 |
| 4897 2856 1093 0000 sts (StickRoll)+1,r17 |
| 4898 285a 0093 0000 sts StickRoll,r16 |
| 4899 285e 8091 0000 lds r24,ExternControl+5 |
| 4900 2862 282F mov r18,r24 |
| 4901 2864 3327 clr r19 |
| 4902 2866 27FD sbrc r18,7 |
| 4903 2868 3095 com r19 |
| 4904 286a 8091 0000 lds r24,StickGier |
| 4905 286e 9091 0000 lds r25,(StickGier)+1 |
| 4906 2872 820F add r24,r18 |
| 4907 2874 931F adc r25,r19 |
| 4908 2876 9093 0000 sts (StickGier)+1,r25 |
| 4909 287a 8093 0000 sts StickGier,r24 |
| 4910 287e 8091 0000 lds r24,ExternControl+7 |
| 4911 2882 282F mov r18,r24 |
| 4912 2884 3327 clr r19 |
| 4913 2886 27FD sbrc r18,7 |
| 4914 2888 3095 com r19 |
| 4915 288a 8091 0000 lds r24,EE_Parameter+18 |
| 4916 288e 9927 clr r25 |
| 4917 2890 289F mul r18,r24 |
| 4918 2892 D001 movw r26,r0 |
| 4919 2894 299F mul r18,r25 |
| 4920 2896 B00D add r27,r0 |
| 4921 2898 389F mul r19,r24 |
| 4922 289a B00D add r27,r0 |
| 4923 289c 1124 clr r1 |
| 4924 289e B093 0000 sts (ExternHoehenValue)+1,r27 |
| 4925 28a2 A093 0000 sts ExternHoehenValue,r26 |
| 4926 28a6 8091 0000 lds r24,ExternControl+6 |
| 4927 28aa 9927 clr r25 |
| 4928 28ac 8E15 cp r24,r14 |
| 4929 28ae 9F05 cpc r25,r15 |
| 4930 28b0 24F4 brge .L383 |
| 4931 28b2 9093 0000 sts (StickGas)+1,r25 |
| 4932 28b6 8093 0000 sts StickGas,r24 |
| 4933 .L383: |
| 4934 28ba 8091 0000 lds r24,StickGas |
| 4935 28be 9091 0000 lds r25,(StickGas)+1 |
| 4936 28c2 97FF sbrs r25,7 |
| 4937 28c4 04C0 rjmp .L385 |
| 4938 28c6 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4939 28ca 1092 0000 sts StickGas,__zero_reg__ |
| 4940 .L385: |
| 4941 28ce 8091 0000 lds r24,EE_Parameter+13 |
| 4942 28d2 82FF sbrs r24,2 |
| 4943 28d4 02C0 rjmp .L386 |
| 4944 28d6 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 4945 .L386: |
| 4946 28da 4091 0000 lds r20,StickNick |
| 4947 28de 5091 0000 lds r21,(StickNick)+1 |
| 4948 28e2 CA01 movw r24,r20 |
| 4949 28e4 57FD sbrc r21,7 |
| 4950 28e6 0396 adiw r24,3 |
| 4951 .L388: |
| 4952 28e8 9C01 movw r18,r24 |
| 4953 28ea 3595 asr r19 |
| 4954 28ec 2795 ror r18 |
| 4955 28ee 3595 asr r19 |
| 4956 28f0 2795 ror r18 |
| 4957 28f2 37FF sbrs r19,7 |
| 4958 28f4 03C0 rjmp .L389 |
| 4959 28f6 3095 com r19 |
| 4960 28f8 2195 neg r18 |
| 4961 28fa 3F4F sbci r19,lo8(-1) |
| 4962 .L389: |
| 4963 28fc 8091 0000 lds r24,MaxStickNick |
| 4964 2900 9091 0000 lds r25,(MaxStickNick)+1 |
| 4965 2904 8217 cp r24,r18 |
| 4966 2906 9307 cpc r25,r19 |
| 4967 2908 B4F4 brge .L387 |
| 4968 290a CA01 movw r24,r20 |
| 4969 290c 57FF sbrs r21,7 |
| 4970 290e 03C0 rjmp .L390 |
| 4971 2910 9095 com r25 |
| 4972 2912 8195 neg r24 |
| 4973 2914 9F4F sbci r25,lo8(-1) |
| 4974 .L390: |
| 4975 2916 97FD sbrc r25,7 |
| 4976 2918 0396 adiw r24,3 |
| 4977 .L391: |
| 4978 291a 9595 asr r25 |
| 4979 291c 8795 ror r24 |
| 4980 291e 9595 asr r25 |
| 4981 2920 8795 ror r24 |
| 4982 2922 9093 0000 sts (MaxStickNick)+1,r25 |
| 4983 2926 8093 0000 sts MaxStickNick,r24 |
| 4984 292a 8536 cpi r24,101 |
| 4985 292c 9105 cpc r25,__zero_reg__ |
| 4986 292e 44F0 brlt .L393 |
| 4987 2930 84E6 ldi r24,lo8(100) |
| 4988 2932 90E0 ldi r25,hi8(100) |
| 4989 2934 01C0 rjmp .L779 |
| 4990 .L387: |
| 4991 2936 0197 sbiw r24,1 |
| 4992 .L779: |
| 4993 2938 9093 0000 sts (MaxStickNick)+1,r25 |
| 4994 293c 8093 0000 sts MaxStickNick,r24 |
| 4995 .L393: |
| 4996 2940 4091 0000 lds r20,StickRoll |
| 4997 2944 5091 0000 lds r21,(StickRoll)+1 |
| 4998 2948 CA01 movw r24,r20 |
| 4999 294a 57FD sbrc r21,7 |
| 5000 294c 0396 adiw r24,3 |
| 5001 .L395: |
| 5002 294e 9C01 movw r18,r24 |
| 5003 2950 3595 asr r19 |
| 5004 2952 2795 ror r18 |
| 5005 2954 3595 asr r19 |
| 5006 2956 2795 ror r18 |
| 5007 2958 37FF sbrs r19,7 |
| 5008 295a 03C0 rjmp .L396 |
| 5009 295c 3095 com r19 |
| 5010 295e 2195 neg r18 |
| 5011 2960 3F4F sbci r19,lo8(-1) |
| 5012 .L396: |
| 5013 2962 8091 0000 lds r24,MaxStickRoll |
| 5014 2966 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5015 296a 8217 cp r24,r18 |
| 5016 296c 9307 cpc r25,r19 |
| 5017 296e B4F4 brge .L394 |
| 5018 2970 CA01 movw r24,r20 |
| 5019 2972 57FF sbrs r21,7 |
| 5020 2974 03C0 rjmp .L397 |
| 5021 2976 9095 com r25 |
| 5022 2978 8195 neg r24 |
| 5023 297a 9F4F sbci r25,lo8(-1) |
| 5024 .L397: |
| 5025 297c 97FD sbrc r25,7 |
| 5026 297e 0396 adiw r24,3 |
| 5027 .L398: |
| 5028 2980 9595 asr r25 |
| 5029 2982 8795 ror r24 |
| 5030 2984 9595 asr r25 |
| 5031 2986 8795 ror r24 |
| 5032 2988 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5033 298c 8093 0000 sts MaxStickRoll,r24 |
| 5034 2990 8536 cpi r24,101 |
| 5035 2992 9105 cpc r25,__zero_reg__ |
| 5036 2994 44F0 brlt .L400 |
| 5037 2996 84E6 ldi r24,lo8(100) |
| 5038 2998 90E0 ldi r25,hi8(100) |
| 5039 299a 01C0 rjmp .L780 |
| 5040 .L394: |
| 5041 299c 0197 sbiw r24,1 |
| 5042 .L780: |
| 5043 299e 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5044 29a2 8093 0000 sts MaxStickRoll,r24 |
| 5045 .L400: |
| 5046 29a6 8091 0000 lds r24,FCFlags |
| 5047 29aa 84FF sbrs r24,4 |
| 5048 29ac 08C0 rjmp .L401 |
| 5049 29ae 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5050 29b2 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5051 29b6 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5052 29ba 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5053 .L401: |
| 5054 29be EB2D mov r30,r11 |
| 5055 29c0 FF27 clr r31 |
| 5056 29c2 EE0F add r30,r30 |
| 5057 29c4 FF1F adc r31,r31 |
| 5058 29c6 E050 subi r30,lo8(-(PPM_in)) |
| 5059 29c8 F040 sbci r31,hi8(-(PPM_in)) |
| 5060 29ca 4091 0000 lds r20,EE_Parameter+58 |
| 5061 29ce 242F mov r18,r20 |
| 5062 29d0 3327 clr r19 |
| 5063 29d2 8081 ld r24,Z |
| 5064 29d4 9181 ldd r25,Z+1 |
| 5065 29d6 2817 cp r18,r24 |
| 5066 29d8 3907 cpc r19,r25 |
| 5067 29da 44F4 brge .L402 |
| 5068 29dc 8091 0000 lds r24,EE_Parameter+97 |
| 5069 29e0 82FF sbrs r24,2 |
| 5070 29e2 04C0 rjmp .L402 |
| 5071 29e4 81E0 ldi r24,lo8(1) |
| 5072 29e6 8093 0000 sts Looping_Links,r24 |
| 5073 29ea 13C0 rjmp .L403 |
| 5074 .L402: |
| 5075 29ec EB2D mov r30,r11 |
| 5076 29ee FF27 clr r31 |
| 5077 29f0 EE0F add r30,r30 |
| 5078 29f2 FF1F adc r31,r31 |
| 5079 29f4 E050 subi r30,lo8(-(PPM_in)) |
| 5080 29f6 F040 sbci r31,hi8(-(PPM_in)) |
| 5081 29f8 842F mov r24,r20 |
| 5082 29fa 9927 clr r25 |
| 5083 29fc 2091 0000 lds r18,EE_Parameter+59 |
| 5084 2a00 821B sub r24,r18 |
| 5085 2a02 9109 sbc r25,__zero_reg__ |
| 5086 2a04 2081 ld r18,Z |
| 5087 2a06 3181 ldd r19,Z+1 |
| 5088 2a08 2817 cp r18,r24 |
| 5089 2a0a 3907 cpc r19,r25 |
| 5090 2a0c 14F4 brge .L403 |
| 5091 2a0e 1092 0000 sts Looping_Links,__zero_reg__ |
| 5092 .L403: |
| 5093 2a12 4091 0000 lds r20,EE_Parameter+2 |
| 5094 2a16 E42F mov r30,r20 |
| 5095 2a18 FF27 clr r31 |
| 5096 2a1a EE0F add r30,r30 |
| 5097 2a1c FF1F adc r31,r31 |
| 5098 2a1e E050 subi r30,lo8(-(PPM_in)) |
| 5099 2a20 F040 sbci r31,hi8(-(PPM_in)) |
| 5100 2a22 5091 0000 lds r21,EE_Parameter+58 |
| 5101 2a26 852F mov r24,r21 |
| 5102 2a28 9927 clr r25 |
| 5103 2a2a 2227 clr r18 |
| 5104 2a2c 3327 clr r19 |
| 5105 2a2e 281B sub r18,r24 |
| 5106 2a30 390B sbc r19,r25 |
| 5107 2a32 8081 ld r24,Z |
| 5108 2a34 9181 ldd r25,Z+1 |
| 5109 2a36 8217 cp r24,r18 |
| 5110 2a38 9307 cpc r25,r19 |
| 5111 2a3a 44F4 brge .L405 |
| 5112 2a3c 8091 0000 lds r24,EE_Parameter+97 |
| 5113 2a40 83FF sbrs r24,3 |
| 5114 2a42 04C0 rjmp .L405 |
| 5115 2a44 81E0 ldi r24,lo8(1) |
| 5116 2a46 8093 0000 sts Looping_Rechts,r24 |
| 5117 2a4a 16C0 rjmp .L406 |
| 5118 .L405: |
| 5119 2a4c 8091 0000 lds r24,Looping_Rechts |
| 5120 2a50 8823 tst r24 |
| 5121 2a52 91F0 breq .L406 |
| 5122 2a54 E42F mov r30,r20 |
| 5123 2a56 FF27 clr r31 |
| 5124 2a58 EE0F add r30,r30 |
| 5125 2a5a FF1F adc r31,r31 |
| 5126 2a5c E050 subi r30,lo8(-(PPM_in)) |
| 5127 2a5e F040 sbci r31,hi8(-(PPM_in)) |
| 5128 2a60 8091 0000 lds r24,EE_Parameter+59 |
| 5129 2a64 9927 clr r25 |
| 5130 2a66 851B sub r24,r21 |
| 5131 2a68 9109 sbc r25,__zero_reg__ |
| 5132 2a6a 2081 ld r18,Z |
| 5133 2a6c 3181 ldd r19,Z+1 |
| 5134 2a6e 8217 cp r24,r18 |
| 5135 2a70 9307 cpc r25,r19 |
| 5136 2a72 14F4 brge .L406 |
| 5137 2a74 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5138 .L406: |
| 5139 2a78 EA2D mov r30,r10 |
| 5140 2a7a FF27 clr r31 |
| 5141 2a7c EE0F add r30,r30 |
| 5142 2a7e FF1F adc r31,r31 |
| 5143 2a80 E050 subi r30,lo8(-(PPM_in)) |
| 5144 2a82 F040 sbci r31,hi8(-(PPM_in)) |
| 5145 2a84 4091 0000 lds r20,EE_Parameter+58 |
| 5146 2a88 242F mov r18,r20 |
| 5147 2a8a 3327 clr r19 |
| 5148 2a8c 8081 ld r24,Z |
| 5149 2a8e 9181 ldd r25,Z+1 |
| 5150 2a90 2817 cp r18,r24 |
| 5151 2a92 3907 cpc r19,r25 |
| 5152 2a94 44F4 brge .L409 |
| 5153 2a96 8091 0000 lds r24,EE_Parameter+97 |
| 5154 2a9a 80FF sbrs r24,0 |
| 5155 2a9c 04C0 rjmp .L409 |
| 5156 2a9e 81E0 ldi r24,lo8(1) |
| 5157 2aa0 8093 0000 sts Looping_Oben,r24 |
| 5158 2aa4 17C0 rjmp .L410 |
| 5159 .L409: |
| 5160 2aa6 8091 0000 lds r24,Looping_Oben |
| 5161 2aaa 8823 tst r24 |
| 5162 2aac 99F0 breq .L410 |
| 5163 2aae EA2D mov r30,r10 |
| 5164 2ab0 FF27 clr r31 |
| 5165 2ab2 EE0F add r30,r30 |
| 5166 2ab4 FF1F adc r31,r31 |
| 5167 2ab6 E050 subi r30,lo8(-(PPM_in)) |
| 5168 2ab8 F040 sbci r31,hi8(-(PPM_in)) |
| 5169 2aba 842F mov r24,r20 |
| 5170 2abc 9927 clr r25 |
| 5171 2abe 2091 0000 lds r18,EE_Parameter+59 |
| 5172 2ac2 821B sub r24,r18 |
| 5173 2ac4 9109 sbc r25,__zero_reg__ |
| 5174 2ac6 2081 ld r18,Z |
| 5175 2ac8 3181 ldd r19,Z+1 |
| 5176 2aca 2817 cp r18,r24 |
| 5177 2acc 3907 cpc r19,r25 |
| 5178 2ace 14F4 brge .L410 |
| 5179 2ad0 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5180 .L410: |
| 5181 2ad4 4091 0000 lds r20,EE_Parameter+1 |
| 5182 2ad8 E42F mov r30,r20 |
| 5183 2ada FF27 clr r31 |
| 5184 2adc EE0F add r30,r30 |
| 5185 2ade FF1F adc r31,r31 |
| 5186 2ae0 E050 subi r30,lo8(-(PPM_in)) |
| 5187 2ae2 F040 sbci r31,hi8(-(PPM_in)) |
| 5188 2ae4 5091 0000 lds r21,EE_Parameter+58 |
| 5189 2ae8 852F mov r24,r21 |
| 5190 2aea 9927 clr r25 |
| 5191 2aec 2227 clr r18 |
| 5192 2aee 3327 clr r19 |
| 5193 2af0 281B sub r18,r24 |
| 5194 2af2 390B sbc r19,r25 |
| 5195 2af4 8081 ld r24,Z |
| 5196 2af6 9181 ldd r25,Z+1 |
| 5197 2af8 8217 cp r24,r18 |
| 5198 2afa 9307 cpc r25,r19 |
| 5199 2afc 44F4 brge .L413 |
| 5200 2afe 8091 0000 lds r24,EE_Parameter+97 |
| 5201 2b02 81FF sbrs r24,1 |
| 5202 2b04 04C0 rjmp .L413 |
| 5203 2b06 81E0 ldi r24,lo8(1) |
| 5204 2b08 8093 0000 sts Looping_Unten,r24 |
| 5205 2b0c 16C0 rjmp .L414 |
| 5206 .L413: |
| 5207 2b0e 8091 0000 lds r24,Looping_Unten |
| 5208 2b12 8823 tst r24 |
| 5209 2b14 91F0 breq .L414 |
| 5210 2b16 E42F mov r30,r20 |
| 5211 2b18 FF27 clr r31 |
| 5212 2b1a EE0F add r30,r30 |
| 5213 2b1c FF1F adc r31,r31 |
| 5214 2b1e E050 subi r30,lo8(-(PPM_in)) |
| 5215 2b20 F040 sbci r31,hi8(-(PPM_in)) |
| 5216 2b22 8091 0000 lds r24,EE_Parameter+59 |
| 5217 2b26 9927 clr r25 |
| 5218 2b28 851B sub r24,r21 |
| 5219 2b2a 9109 sbc r25,__zero_reg__ |
| 5220 2b2c 2081 ld r18,Z |
| 5221 2b2e 3181 ldd r19,Z+1 |
| 5222 2b30 8217 cp r24,r18 |
| 5223 2b32 9307 cpc r25,r19 |
| 5224 2b34 14F4 brge .L414 |
| 5225 2b36 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5226 .L414: |
| 5227 2b3a 8091 0000 lds r24,Looping_Links |
| 5228 2b3e 8823 tst r24 |
| 5229 2b40 19F4 brne .L418 |
| 5230 2b42 8091 0000 lds r24,Looping_Rechts |
| 5231 2b46 8111 cpse r24,__zero_reg__ |
| 5232 .L418: |
| 5233 2b48 81E0 ldi r24,lo8(1) |
| 5234 .L417: |
| 5235 2b4a 8093 0000 sts Looping_Roll,r24 |
| 5236 2b4e 8091 0000 lds r24,Looping_Oben |
| 5237 2b52 8823 tst r24 |
| 5238 2b54 21F4 brne .L421 |
| 5239 2b56 8091 0000 lds r24,Looping_Unten |
| 5240 2b5a 8823 tst r24 |
| 5241 2b5c 51F0 breq .L420 |
| 5242 .L421: |
| 5243 2b5e 81E0 ldi r24,lo8(1) |
| 5244 2b60 8093 0000 sts Looping_Nick,r24 |
| 5245 2b64 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5246 2b68 1092 0000 sts Looping_Links,__zero_reg__ |
| 5247 2b6c 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5248 2b70 02C0 rjmp .L367 |
| 5249 .L420: |
| 5250 2b72 8093 0000 sts Looping_Nick,r24 |
| 5251 .L367: |
| 5252 2b76 8091 0000 lds r24,Looping_Roll |
| 5253 2b7a 8823 tst r24 |
| 5254 2b7c 21F4 brne .L424 |
| 5255 2b7e 8091 0000 lds r24,Looping_Nick |
| 5256 2b82 8823 tst r24 |
| 5257 2b84 69F0 breq .L423 |
| 5258 .L424: |
| 5259 2b86 8091 0000 lds r24,EE_Parameter+57 |
| 5260 2b8a 9927 clr r25 |
| 5261 2b8c E8A1 ldd r30,Y+32 |
| 5262 2b8e F9A1 ldd r31,Y+33 |
| 5263 2b90 8E17 cp r24,r30 |
| 5264 2b92 9F07 cpc r25,r31 |
| 5265 2b94 14F4 brge .L425 |
| 5266 2b96 99A3 std Y+33,r25 |
| 5267 2b98 88A3 std Y+32,r24 |
| 5268 .L425: |
| 5269 2b9a 81E0 ldi r24,lo8(1) |
| 5270 2b9c 8093 0000 sts TrichterFlug,r24 |
| 5271 .L423: |
| 5272 2ba0 8091 0000 lds r24,FCFlags |
| 5273 2ba4 84FF sbrs r24,4 |
| 5274 2ba6 1AC0 rjmp .L426 |
| 5275 2ba8 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5276 2bac 1092 0000 sts StickGier,__zero_reg__ |
| 5277 2bb0 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 5278 2bb4 1092 0000 sts StickNick,__zero_reg__ |
| 5279 2bb8 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 5280 2bbc 1092 0000 sts StickRoll,__zero_reg__ |
| 5281 2bc0 9AE5 ldi r25,lo8(90) |
| 5282 2bc2 9093 0000 sts GyroFaktor,r25 |
| 5283 2bc6 88E7 ldi r24,lo8(120) |
| 5284 2bc8 8093 0000 sts IntegralFaktor,r24 |
| 5285 2bcc 9093 0000 sts GyroFaktorGier,r25 |
| 5286 2bd0 8093 0000 sts IntegralFaktorGier,r24 |
| 5287 2bd4 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5288 2bd8 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5289 .L426: |
| 5290 2bdc 8091 0000 lds r24,MittelIntegralNick |
| 5291 2be0 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5292 2be4 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5293 2be8 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5294 2bec 2091 0000 lds r18,IntegralNick |
| 5295 2bf0 3091 0000 lds r19,(IntegralNick)+1 |
| 5296 2bf4 4091 0000 lds r20,(IntegralNick)+2 |
| 5297 2bf8 5091 0000 lds r21,(IntegralNick)+3 |
| 5298 2bfc 820F add r24,r18 |
| 5299 2bfe 931F adc r25,r19 |
| 5300 2c00 A41F adc r26,r20 |
| 5301 2c02 B51F adc r27,r21 |
| 5302 2c04 8093 0000 sts MittelIntegralNick,r24 |
| 5303 2c08 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5304 2c0c A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5305 2c10 B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5306 2c14 8091 0000 lds r24,MittelIntegralRoll |
| 5307 2c18 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5308 2c1c A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5309 2c20 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5310 2c24 2090 0000 lds r2,IntegralRoll |
| 5311 2c28 3090 0000 lds r3,(IntegralRoll)+1 |
| 5312 2c2c 4090 0000 lds r4,(IntegralRoll)+2 |
| 5313 2c30 5090 0000 lds r5,(IntegralRoll)+3 |
| 5314 2c34 820D add r24,r2 |
| 5315 2c36 931D adc r25,r3 |
| 5316 2c38 A41D adc r26,r4 |
| 5317 2c3a B51D adc r27,r5 |
| 5318 2c3c 8093 0000 sts MittelIntegralRoll,r24 |
| 5319 2c40 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5320 2c44 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5321 2c48 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5322 2c4c 8091 0000 lds r24,MittelIntegralNick2 |
| 5323 2c50 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5324 2c54 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5325 2c58 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5326 2c5c E090 0000 lds r14,IntegralNick2 |
| 5327 2c60 F090 0000 lds r15,(IntegralNick2)+1 |
| 5328 2c64 0091 0000 lds r16,(IntegralNick2)+2 |
| 5329 2c68 1091 0000 lds r17,(IntegralNick2)+3 |
| 5330 2c6c EAA2 std Y+34,r14 |
| 5331 2c6e FBA2 std Y+35,r15 |
| 5332 2c70 0CA3 std Y+36,r16 |
| 5333 2c72 1DA3 std Y+37,r17 |
| 5334 2c74 8E0D add r24,r14 |
| 5335 2c76 9F1D adc r25,r15 |
| 5336 2c78 A01F adc r26,r16 |
| 5337 2c7a B11F adc r27,r17 |
| 5338 2c7c 8093 0000 sts MittelIntegralNick2,r24 |
| 5339 2c80 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5340 2c84 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5341 2c88 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5342 2c8c 8091 0000 lds r24,MittelIntegralRoll2 |
| 5343 2c90 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5344 2c94 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5345 2c98 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5346 2c9c E090 0000 lds r14,IntegralRoll2 |
| 5347 2ca0 F090 0000 lds r15,(IntegralRoll2)+1 |
| 5348 2ca4 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5349 2ca8 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5350 2cac EEA2 std Y+38,r14 |
| 5351 2cae FFA2 std Y+39,r15 |
| 5352 2cb0 08A7 std Y+40,r16 |
| 5353 2cb2 19A7 std Y+41,r17 |
| 5354 2cb4 8E0D add r24,r14 |
| 5355 2cb6 9F1D adc r25,r15 |
| 5356 2cb8 A01F adc r26,r16 |
| 5357 2cba B11F adc r27,r17 |
| 5358 2cbc 8093 0000 sts MittelIntegralRoll2,r24 |
| 5359 2cc0 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5360 2cc4 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5361 2cc8 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5362 2ccc F090 0000 lds r15,Looping_Nick |
| 5363 2cd0 FAA6 std Y+42,r15 |
| 5364 2cd2 FF20 tst r15 |
| 5365 2cd4 29F4 brne .L428 |
| 5366 2cd6 8091 0000 lds r24,Looping_Roll |
| 5367 2cda 8823 tst r24 |
| 5368 2cdc 09F4 brne .+2 |
| 5369 2cde 60C0 rjmp .L775 |
| 5370 .L428: |
| 5371 2ce0 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5372 2ce4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5373 2ce8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5374 2cec 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5375 2cf0 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5376 2cf4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5377 2cf8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5378 2cfc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5379 2d00 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5380 2d04 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5381 2d08 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5382 2d0c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5383 2d10 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5384 2d14 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5385 2d18 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5386 2d1c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5387 2d20 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5388 2d24 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5389 2d28 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5390 2d2c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5391 2d30 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5392 2d34 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5393 2d38 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5394 2d3c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5395 2d40 8091 0000 lds r24,Mess_IntegralNick |
| 5396 2d44 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5397 2d48 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5398 2d4c B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5399 2d50 8093 0000 sts Mess_IntegralNick2,r24 |
| 5400 2d54 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5401 2d58 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5402 2d5c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5403 2d60 8091 0000 lds r24,Mess_IntegralRoll |
| 5404 2d64 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5405 2d68 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5406 2d6c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5407 2d70 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5408 2d74 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5409 2d78 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5410 2d7c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5411 2d80 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5412 2d84 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5413 2d88 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5414 2d8c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5415 2d90 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5416 2d94 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5417 2d98 0AA5 ldd r16,Y+42 |
| 5418 2d9a 0023 tst r16 |
| 5419 2d9c 09F0 breq .+2 |
| 5420 2d9e F2C1 rjmp .L429 |
| 5421 .L775: |
| 5422 2da0 8091 0000 lds r24,Looping_Roll |
| 5423 2da4 8823 tst r24 |
| 5424 2da6 09F0 breq .+2 |
| 5425 2da8 EDC1 rjmp .L429 |
| 5426 2daa 8091 0000 lds r24,Aktuell_az |
| 5427 2dae 9091 0000 lds r25,(Aktuell_az)+1 |
| 5428 2db2 8150 subi r24,lo8(513) |
| 5429 2db4 9240 sbci r25,hi8(513) |
| 5430 2db6 2CF4 brge .L430 |
| 5431 2db8 8091 0000 lds r24,MotorenEin |
| 5432 2dbc 8823 tst r24 |
| 5433 2dbe 09F4 brne .+2 |
| 5434 2dc0 E1C1 rjmp .L429 |
| 5435 .L430: |
| 5436 2dc2 9090 0000 lds r9,FromNaviCtrl_Value |
| 5437 2dc6 A090 0000 lds r10,EE_Parameter+28 |
| 5438 2dca 6091 0000 lds r22,Mittelwert_AccNick |
| 5439 2dce 7091 0000 lds r23,(Mittelwert_AccNick)+1 |
| 5440 2dd2 7BAB std Y+51,r23 |
| 5441 2dd4 6AAB std Y+50,r22 |
| 5442 2dd6 8091 0000 lds r24,Mittelwert_AccRoll |
| 5443 2dda 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 5444 2dde 9DAB std Y+53,r25 |
| 5445 2de0 8CAB std Y+52,r24 |
| 5446 2de2 9FEF ldi r25,lo8(-1) |
| 5447 2de4 9916 cp r9,r25 |
| 5448 2de6 09F4 brne .+2 |
| 5449 2de8 D9C0 rjmp .L431 |
| 5450 2dea BB24 clr r11 |
| 5451 2dec CC24 clr r12 |
| 5452 2dee DD24 clr r13 |
| 5453 2df0 CA01 movw r24,r20 |
| 5454 2df2 B901 movw r22,r18 |
| 5455 2df4 A601 movw r20,r12 |
| 5456 2df6 9501 movw r18,r10 |
| 5457 2df8 0E94 0000 call __divmodsi4 |
| 5458 2dfc 7901 movw r14,r18 |
| 5459 2dfe 8A01 movw r16,r20 |
| 5460 2e00 EAA9 ldd r30,Y+50 |
| 5461 2e02 FBA9 ldd r31,Y+51 |
| 5462 2e04 CF01 movw r24,r30 |
| 5463 2e06 AA27 clr r26 |
| 5464 2e08 97FD sbrc r25,7 |
| 5465 2e0a A095 com r26 |
| 5466 2e0c BA2F mov r27,r26 |
| 5467 2e0e E81A sub r14,r24 |
| 5468 2e10 F90A sbc r15,r25 |
| 5469 2e12 0A0B sbc r16,r26 |
| 5470 2e14 1B0B sbc r17,r27 |
| 5471 2e16 C201 movw r24,r4 |
| 5472 2e18 B101 movw r22,r2 |
| 5473 2e1a A601 movw r20,r12 |
| 5474 2e1c 9501 movw r18,r10 |
| 5475 2e1e 0E94 0000 call __divmodsi4 |
| 5476 2e22 5901 movw r10,r18 |
| 5477 2e24 6A01 movw r12,r20 |
| 5478 2e26 2CA9 ldd r18,Y+52 |
| 5479 2e28 3DA9 ldd r19,Y+53 |
| 5480 2e2a C901 movw r24,r18 |
| 5481 2e2c AA27 clr r26 |
| 5482 2e2e 97FD sbrc r25,7 |
| 5483 2e30 A095 com r26 |
| 5484 2e32 BA2F mov r27,r26 |
| 5485 2e34 A81A sub r10,r24 |
| 5486 2e36 B90A sbc r11,r25 |
| 5487 2e38 CA0A sbc r12,r26 |
| 5488 2e3a DB0A sbc r13,r27 |
| 5489 2e3c 292C mov r2,r9 |
| 5490 2e3e 3324 clr r3 |
| 5491 2e40 27FC sbrc r2,7 |
| 5492 2e42 3094 com r3 |
| 5493 2e44 432C mov r4,r3 |
| 5494 2e46 532C mov r5,r3 |
| 5495 2e48 C801 movw r24,r16 |
| 5496 2e4a B701 movw r22,r14 |
| 5497 2e4c A201 movw r20,r4 |
| 5498 2e4e 9101 movw r18,r2 |
| 5499 2e50 0E94 0000 call __mulsi3 |
| 5500 2e54 97FF sbrs r25,7 |
| 5501 2e56 04C0 rjmp .L432 |
| 5502 2e58 6150 subi r22,lo8(-(511)) |
| 5503 2e5a 7E4F sbci r23,hi8(-(511)) |
| 5504 2e5c 8F4F sbci r24,hlo8(-(511)) |
| 5505 2e5e 9F4F sbci r25,hhi8(-(511)) |
| 5506 .L432: |
| 5507 2e60 3B01 movw r6,r22 |
| 5508 2e62 4C01 movw r8,r24 |
| 5509 2e64 09E0 ldi r16,9 |
| 5510 2e66 9594 1: asr r9 |
| 5511 2e68 8794 ror r8 |
| 5512 2e6a 7794 ror r7 |
| 5513 2e6c 6794 ror r6 |
| 5514 2e6e 0A95 dec r16 |
| 5515 2e70 D1F7 brne 1b |
| 5516 2e72 C601 movw r24,r12 |
| 5517 2e74 B501 movw r22,r10 |
| 5518 2e76 A201 movw r20,r4 |
| 5519 2e78 9101 movw r18,r2 |
| 5520 2e7a 0E94 0000 call __mulsi3 |
| 5521 2e7e 97FF sbrs r25,7 |
| 5522 2e80 04C0 rjmp .L433 |
| 5523 2e82 6150 subi r22,lo8(-(511)) |
| 5524 2e84 7E4F sbci r23,hi8(-(511)) |
| 5525 2e86 8F4F sbci r24,hlo8(-(511)) |
| 5526 2e88 9F4F sbci r25,hhi8(-(511)) |
| 5527 .L433: |
| 5528 2e8a 5B01 movw r10,r22 |
| 5529 2e8c 6C01 movw r12,r24 |
| 5530 2e8e 19E0 ldi r17,9 |
| 5531 2e90 D594 1: asr r13 |
| 5532 2e92 C794 ror r12 |
| 5533 2e94 B794 ror r11 |
| 5534 2e96 A794 ror r10 |
| 5535 2e98 1A95 dec r17 |
| 5536 2e9a D1F7 brne 1b |
| 5537 2e9c 8091 0000 lds r24,MaxStickNick |
| 5538 2ea0 9091 0000 lds r25,(MaxStickNick)+1 |
| 5539 2ea4 8134 cpi r24,65 |
| 5540 2ea6 9105 cpc r25,__zero_reg__ |
| 5541 2ea8 3CF4 brge .L435 |
| 5542 2eaa 8091 0000 lds r24,MaxStickRoll |
| 5543 2eae 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5544 2eb2 8134 cpi r24,65 |
| 5545 2eb4 9105 cpc r25,__zero_reg__ |
| 5546 2eb6 D4F0 brlt .L434 |
| 5547 .L435: |
| 5548 2eb8 D401 movw r26,r8 |
| 5549 2eba C301 movw r24,r6 |
| 5550 2ebc 97FE sbrs r9,7 |
| 5551 2ebe 03C0 rjmp .L436 |
| 5552 2ec0 0196 adiw r24,1 |
| 5553 2ec2 A11D adc r26,__zero_reg__ |
| 5554 2ec4 B11D adc r27,__zero_reg__ |
| 5555 .L436: |
| 5556 2ec6 3C01 movw r6,r24 |
| 5557 2ec8 4D01 movw r8,r26 |
| 5558 2eca 9594 asr r9 |
| 5559 2ecc 8794 ror r8 |
| 5560 2ece 7794 ror r7 |
| 5561 2ed0 6794 ror r6 |
| 5562 2ed2 D601 movw r26,r12 |
| 5563 2ed4 C501 movw r24,r10 |
| 5564 2ed6 D7FE sbrs r13,7 |
| 5565 2ed8 03C0 rjmp .L437 |
| 5566 2eda 0196 adiw r24,1 |
| 5567 2edc A11D adc r26,__zero_reg__ |
| 5568 2ede B11D adc r27,__zero_reg__ |
| 5569 .L437: |
| 5570 2ee0 5C01 movw r10,r24 |
| 5571 2ee2 6D01 movw r12,r26 |
| 5572 2ee4 D594 asr r13 |
| 5573 2ee6 C794 ror r12 |
| 5574 2ee8 B794 ror r11 |
| 5575 2eea A794 ror r10 |
| 5576 .L434: |
| 5577 2eec 8091 0000 lds r24,EE_Parameter+4 |
| 5578 2ef0 E82F mov r30,r24 |
| 5579 2ef2 FF27 clr r31 |
| 5580 2ef4 EE0F add r30,r30 |
| 5581 2ef6 FF1F adc r31,r31 |
| 5582 2ef8 E050 subi r30,lo8(-(PPM_in)) |
| 5583 2efa F040 sbci r31,hi8(-(PPM_in)) |
| 5584 2efc 8081 ld r24,Z |
| 5585 2efe 9181 ldd r25,Z+1 |
| 5586 2f00 0190 ld __tmp_reg__,Z+ |
| 5587 2f02 F081 ld r31,Z |
| 5588 2f04 E02D mov r30,__tmp_reg__ |
| 5589 2f06 F7FF sbrs r31,7 |
| 5590 2f08 03C0 rjmp .L439 |
| 5591 2f0a F095 com r31 |
| 5592 2f0c E195 neg r30 |
| 5593 2f0e FF4F sbci r31,lo8(-1) |
| 5594 .L439: |
| 5595 2f10 7A97 sbiw r30,26 |
| 5596 2f12 A4F0 brlt .L438 |
| 5597 2f14 C401 movw r24,r8 |
| 5598 2f16 B301 movw r22,r6 |
| 5599 2f18 23E0 ldi r18,lo8(3) |
| 5600 2f1a 30E0 ldi r19,hi8(3) |
| 5601 2f1c 40E0 ldi r20,hlo8(3) |
| 5602 2f1e 50E0 ldi r21,hhi8(3) |
| 5603 2f20 0E94 0000 call __divmodsi4 |
| 5604 2f24 3901 movw r6,r18 |
| 5605 2f26 4A01 movw r8,r20 |
| 5606 2f28 C601 movw r24,r12 |
| 5607 2f2a B501 movw r22,r10 |
| 5608 2f2c 23E0 ldi r18,lo8(3) |
| 5609 2f2e 30E0 ldi r19,hi8(3) |
| 5610 2f30 40E0 ldi r20,hlo8(3) |
| 5611 2f32 50E0 ldi r21,hhi8(3) |
| 5612 2f34 0E94 0000 call __divmodsi4 |
| 5613 2f38 5901 movw r10,r18 |
| 5614 2f3a 6A01 movw r12,r20 |
| 5615 .L438: |
| 5616 2f3c 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 5617 2f40 282F mov r18,r24 |
| 5618 2f42 3327 clr r19 |
| 5619 2f44 27FD sbrc r18,7 |
| 5620 2f46 3095 com r19 |
| 5621 2f48 432F mov r20,r19 |
| 5622 2f4a 532F mov r21,r19 |
| 5623 2f4c 2615 cp r18,r6 |
| 5624 2f4e 3705 cpc r19,r7 |
| 5625 2f50 4805 cpc r20,r8 |
| 5626 2f52 5905 cpc r21,r9 |
| 5627 2f54 14F4 brge .L440 |
| 5628 2f56 3901 movw r6,r18 |
| 5629 2f58 4A01 movw r8,r20 |
| 5630 .L440: |
| 5631 2f5a 9927 clr r25 |
| 5632 2f5c 87FD sbrc r24,7 |
| 5633 2f5e 9095 com r25 |
| 5634 2f60 9095 com r25 |
| 5635 2f62 8195 neg r24 |
| 5636 2f64 9F4F sbci r25,lo8(-1) |
| 5637 2f66 AA27 clr r26 |
| 5638 2f68 97FD sbrc r25,7 |
| 5639 2f6a A095 com r26 |
| 5640 2f6c BA2F mov r27,r26 |
| 5641 2f6e 6816 cp r6,r24 |
| 5642 2f70 7906 cpc r7,r25 |
| 5643 2f72 8A06 cpc r8,r26 |
| 5644 2f74 9B06 cpc r9,r27 |
| 5645 2f76 14F4 brge .L441 |
| 5646 2f78 3C01 movw r6,r24 |
| 5647 2f7a 4D01 movw r8,r26 |
| 5648 .L441: |
| 5649 2f7c 2A15 cp r18,r10 |
| 5650 2f7e 3B05 cpc r19,r11 |
| 5651 2f80 4C05 cpc r20,r12 |
| 5652 2f82 5D05 cpc r21,r13 |
| 5653 2f84 14F4 brge .L442 |
| 5654 2f86 5901 movw r10,r18 |
| 5655 2f88 6A01 movw r12,r20 |
| 5656 .L442: |
| 5657 2f8a A816 cp r10,r24 |
| 5658 2f8c B906 cpc r11,r25 |
| 5659 2f8e CA06 cpc r12,r26 |
| 5660 2f90 DB06 cpc r13,r27 |
| 5661 2f92 0CF0 brlt .+2 |
| 5662 2f94 CFC0 rjmp .L444 |
| 5663 2f96 5C01 movw r10,r24 |
| 5664 2f98 6D01 movw r12,r26 |
| 5665 2f9a CCC0 rjmp .L444 |
| 5666 .L431: |
| 5667 2f9c EA2C mov r14,r10 |
| 5668 2f9e FF24 clr r15 |
| 5669 2fa0 0027 clr r16 |
| 5670 2fa2 1127 clr r17 |
| 5671 2fa4 CA01 movw r24,r20 |
| 5672 2fa6 B901 movw r22,r18 |
| 5673 2fa8 A801 movw r20,r16 |
| 5674 2faa 9701 movw r18,r14 |
| 5675 2fac 0E94 0000 call __divmodsi4 |
| 5676 2fb0 3901 movw r6,r18 |
| 5677 2fb2 4A01 movw r8,r20 |
| 5678 2fb4 4AA9 ldd r20,Y+50 |
| 5679 2fb6 5BA9 ldd r21,Y+51 |
| 5680 2fb8 CA01 movw r24,r20 |
| 5681 2fba AA27 clr r26 |
| 5682 2fbc 97FD sbrc r25,7 |
| 5683 2fbe A095 com r26 |
| 5684 2fc0 BA2F mov r27,r26 |
| 5685 2fc2 681A sub r6,r24 |
| 5686 2fc4 790A sbc r7,r25 |
| 5687 2fc6 8A0A sbc r8,r26 |
| 5688 2fc8 9B0A sbc r9,r27 |
| 5689 2fca C201 movw r24,r4 |
| 5690 2fcc B101 movw r22,r2 |
| 5691 2fce A801 movw r20,r16 |
| 5692 2fd0 9701 movw r18,r14 |
| 5693 2fd2 0E94 0000 call __divmodsi4 |
| 5694 2fd6 5901 movw r10,r18 |
| 5695 2fd8 6A01 movw r12,r20 |
| 5696 2fda 6CA9 ldd r22,Y+52 |
| 5697 2fdc 7DA9 ldd r23,Y+53 |
| 5698 2fde CB01 movw r24,r22 |
| 5699 2fe0 AA27 clr r26 |
| 5700 2fe2 97FD sbrc r25,7 |
| 5701 2fe4 A095 com r26 |
| 5702 2fe6 BA2F mov r27,r26 |
| 5703 2fe8 A81A sub r10,r24 |
| 5704 2fea B90A sbc r11,r25 |
| 5705 2fec CA0A sbc r12,r26 |
| 5706 2fee DB0A sbc r13,r27 |
| 5707 2ff0 D401 movw r26,r8 |
| 5708 2ff2 C301 movw r24,r6 |
| 5709 2ff4 97FE sbrs r9,7 |
| 5710 2ff6 03C0 rjmp .L445 |
| 5711 2ff8 0F96 adiw r24,15 |
| 5712 2ffa A11D adc r26,__zero_reg__ |
| 5713 2ffc B11D adc r27,__zero_reg__ |
| 5714 .L445: |
| 5715 2ffe 3C01 movw r6,r24 |
| 5716 3000 4D01 movw r8,r26 |
| 5717 3002 F4E0 ldi r31,4 |
| 5718 3004 9594 1: asr r9 |
| 5719 3006 8794 ror r8 |
| 5720 3008 7794 ror r7 |
| 5721 300a 6794 ror r6 |
| 5722 300c FA95 dec r31 |
| 5723 300e D1F7 brne 1b |
| 5724 3010 D601 movw r26,r12 |
| 5725 3012 C501 movw r24,r10 |
| 5726 3014 D7FE sbrs r13,7 |
| 5727 3016 03C0 rjmp .L446 |
| 5728 3018 0F96 adiw r24,15 |
| 5729 301a A11D adc r26,__zero_reg__ |
| 5730 301c B11D adc r27,__zero_reg__ |
| 5731 .L446: |
| 5732 301e 5C01 movw r10,r24 |
| 5733 3020 6D01 movw r12,r26 |
| 5734 3022 E4E0 ldi r30,4 |
| 5735 3024 D594 1: asr r13 |
| 5736 3026 C794 ror r12 |
| 5737 3028 B794 ror r11 |
| 5738 302a A794 ror r10 |
| 5739 302c EA95 dec r30 |
| 5740 302e D1F7 brne 1b |
| 5741 3030 8091 0000 lds r24,MaxStickNick |
| 5742 3034 9091 0000 lds r25,(MaxStickNick)+1 |
| 5743 3038 8134 cpi r24,65 |
| 5744 303a 9105 cpc r25,__zero_reg__ |
| 5745 303c 3CF4 brge .L448 |
| 5746 303e 8091 0000 lds r24,MaxStickRoll |
| 5747 3042 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5748 3046 8134 cpi r24,65 |
| 5749 3048 9105 cpc r25,__zero_reg__ |
| 5750 304a A4F0 brlt .L447 |
| 5751 .L448: |
| 5752 304c C401 movw r24,r8 |
| 5753 304e B301 movw r22,r6 |
| 5754 3050 23E0 ldi r18,lo8(3) |
| 5755 3052 30E0 ldi r19,hi8(3) |
| 5756 3054 40E0 ldi r20,hlo8(3) |
| 5757 3056 50E0 ldi r21,hhi8(3) |
| 5758 3058 0E94 0000 call __divmodsi4 |
| 5759 305c 3901 movw r6,r18 |
| 5760 305e 4A01 movw r8,r20 |
| 5761 3060 C601 movw r24,r12 |
| 5762 3062 B501 movw r22,r10 |
| 5763 3064 23E0 ldi r18,lo8(3) |
| 5764 3066 30E0 ldi r19,hi8(3) |
| 5765 3068 40E0 ldi r20,hlo8(3) |
| 5766 306a 50E0 ldi r21,hhi8(3) |
| 5767 306c 0E94 0000 call __divmodsi4 |
| 5768 3070 5901 movw r10,r18 |
| 5769 3072 6A01 movw r12,r20 |
| 5770 .L447: |
| 5771 3074 8091 0000 lds r24,EE_Parameter+4 |
| 5772 3078 E82F mov r30,r24 |
| 5773 307a FF27 clr r31 |
| 5774 307c EE0F add r30,r30 |
| 5775 307e FF1F adc r31,r31 |
| 5776 3080 E050 subi r30,lo8(-(PPM_in)) |
| 5777 3082 F040 sbci r31,hi8(-(PPM_in)) |
| 5778 3084 8081 ld r24,Z |
| 5779 3086 9181 ldd r25,Z+1 |
| 5780 3088 0190 ld __tmp_reg__,Z+ |
| 5781 308a F081 ld r31,Z |
| 5782 308c E02D mov r30,__tmp_reg__ |
| 5783 308e F7FF sbrs r31,7 |
| 5784 3090 03C0 rjmp .L450 |
| 5785 3092 F095 com r31 |
| 5786 3094 E195 neg r30 |
| 5787 3096 FF4F sbci r31,lo8(-1) |
| 5788 .L450: |
| 5789 3098 7A97 sbiw r30,26 |
| 5790 309a A4F0 brlt .L449 |
| 5791 309c C401 movw r24,r8 |
| 5792 309e B301 movw r22,r6 |
| 5793 30a0 23E0 ldi r18,lo8(3) |
| 5794 30a2 30E0 ldi r19,hi8(3) |
| 5795 30a4 40E0 ldi r20,hlo8(3) |
| 5796 30a6 50E0 ldi r21,hhi8(3) |
| 5797 30a8 0E94 0000 call __divmodsi4 |
| 5798 30ac 3901 movw r6,r18 |
| 5799 30ae 4A01 movw r8,r20 |
| 5800 30b0 C601 movw r24,r12 |
| 5801 30b2 B501 movw r22,r10 |
| 5802 30b4 23E0 ldi r18,lo8(3) |
| 5803 30b6 30E0 ldi r19,hi8(3) |
| 5804 30b8 40E0 ldi r20,hlo8(3) |
| 5805 30ba 50E0 ldi r21,hhi8(3) |
| 5806 30bc 0E94 0000 call __divmodsi4 |
| 5807 30c0 5901 movw r10,r18 |
| 5808 30c2 6A01 movw r12,r20 |
| 5809 .L449: |
| 5810 30c4 71E2 ldi r23,lo8(33) |
| 5811 30c6 6716 cp r6,r23 |
| 5812 30c8 7104 cpc r7,__zero_reg__ |
| 5813 30ca 8104 cpc r8,__zero_reg__ |
| 5814 30cc 9104 cpc r9,__zero_reg__ |
| 5815 30ce 2CF0 brlt .L451 |
| 5816 30d0 70E2 ldi r23,lo8(32) |
| 5817 30d2 672E mov r6,r23 |
| 5818 30d4 712C mov r7,__zero_reg__ |
| 5819 30d6 812C mov r8,__zero_reg__ |
| 5820 30d8 912C mov r9,__zero_reg__ |
| 5821 .L451: |
| 5822 30da 80EE ldi r24,lo8(-32) |
| 5823 30dc 6816 cp r6,r24 |
| 5824 30de 8FEF ldi r24,hi8(-32) |
| 5825 30e0 7806 cpc r7,r24 |
| 5826 30e2 8FEF ldi r24,hlo8(-32) |
| 5827 30e4 8806 cpc r8,r24 |
| 5828 30e6 8FEF ldi r24,hhi8(-32) |
| 5829 30e8 9806 cpc r9,r24 |
| 5830 30ea 44F4 brge .L452 |
| 5831 30ec 60EE ldi r22,lo8(-32) |
| 5832 30ee 662E mov r6,r22 |
| 5833 30f0 6FEF ldi r22,hi8(-32) |
| 5834 30f2 762E mov r7,r22 |
| 5835 30f4 6FEF ldi r22,hlo8(-32) |
| 5836 30f6 862E mov r8,r22 |
| 5837 30f8 6FEF ldi r22,hhi8(-32) |
| 5838 30fa 962E mov r9,r22 |
| 5839 .L452: |
| 5840 30fc 91E2 ldi r25,lo8(33) |
| 5841 30fe A916 cp r10,r25 |
| 5842 3100 B104 cpc r11,__zero_reg__ |
| 5843 3102 C104 cpc r12,__zero_reg__ |
| 5844 3104 D104 cpc r13,__zero_reg__ |
| 5845 3106 2CF0 brlt .L453 |
| 5846 3108 50E2 ldi r21,lo8(32) |
| 5847 310a A52E mov r10,r21 |
| 5848 310c B12C mov r11,__zero_reg__ |
| 5849 310e C12C mov r12,__zero_reg__ |
| 5850 3110 D12C mov r13,__zero_reg__ |
| 5851 .L453: |
| 5852 3112 A0EE ldi r26,lo8(-32) |
| 5853 3114 AA16 cp r10,r26 |
| 5854 3116 AFEF ldi r26,hi8(-32) |
| 5855 3118 BA06 cpc r11,r26 |
| 5856 311a AFEF ldi r26,hlo8(-32) |
| 5857 311c CA06 cpc r12,r26 |
| 5858 311e AFEF ldi r26,hhi8(-32) |
| 5859 3120 DA06 cpc r13,r26 |
| 5860 3122 44F4 brge .L444 |
| 5861 3124 40EE ldi r20,lo8(-32) |
| 5862 3126 A42E mov r10,r20 |
| 5863 3128 4FEF ldi r20,hi8(-32) |
| 5864 312a B42E mov r11,r20 |
| 5865 312c 4FEF ldi r20,hlo8(-32) |
| 5866 312e C42E mov r12,r20 |
| 5867 3130 4FEF ldi r20,hhi8(-32) |
| 5868 3132 D42E mov r13,r20 |
| 5869 .L444: |
| 5870 3134 8091 0000 lds r24,Mess_IntegralNick |
| 5871 3138 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5872 313c A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5873 3140 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5874 3144 8619 sub r24,r6 |
| 5875 3146 9709 sbc r25,r7 |
| 5876 3148 A809 sbc r26,r8 |
| 5877 314a B909 sbc r27,r9 |
| 5878 314c 8093 0000 sts Mess_IntegralNick,r24 |
| 5879 3150 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 5880 3154 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 5881 3158 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 5882 315c 8091 0000 lds r24,Mess_IntegralRoll |
| 5883 3160 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5884 3164 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5885 3168 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5886 316c 8A19 sub r24,r10 |
| 5887 316e 9B09 sbc r25,r11 |
| 5888 3170 AC09 sbc r26,r12 |
| 5889 3172 BD09 sbc r27,r13 |
| 5890 3174 8093 0000 sts Mess_IntegralRoll,r24 |
| 5891 3178 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 5892 317c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 5893 3180 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 5894 .L429: |
| 5895 3184 8091 0000 lds r24,ZaehlMessungen |
| 5896 3188 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 5897 318c 8F3F cpi r24,255 |
| 5898 318e 9105 cpc r25,__zero_reg__ |
| 5899 3190 09F0 breq .+2 |
| 5900 3192 08F4 brsh .+2 |
| 5901 3194 C4C5 rjmp .L455 |
| 5902 3196 BAA5 ldd r27,Y+42 |
| 5903 3198 BB23 tst r27 |
| 5904 319a 09F0 breq .+2 |
| 5905 319c 4EC5 rjmp .L456 |
| 5906 319e 8091 0000 lds r24,Looping_Roll |
| 5907 31a2 8823 tst r24 |
| 5908 31a4 09F0 breq .+2 |
| 5909 31a6 49C5 rjmp .L456 |
| 5910 31a8 8091 0000 lds r24,TrichterFlug |
| 5911 31ac 8823 tst r24 |
| 5912 31ae 09F0 breq .+2 |
| 5913 31b0 44C5 rjmp .L456 |
| 5914 31b2 E091 0000 lds r30,EE_Parameter+66 |
| 5915 31b6 EBA7 std Y+43,r30 |
| 5916 31b8 EE23 tst r30 |
| 5917 31ba 09F4 brne .+2 |
| 5918 31bc 3EC5 rjmp .L456 |
| 5919 31be 8091 0000 lds r24,MittelIntegralNick |
| 5920 31c2 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5921 31c6 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5922 31ca B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5923 31ce B7FF sbrs r27,7 |
| 5924 31d0 04C0 rjmp .L457 |
| 5925 31d2 8150 subi r24,lo8(-(255)) |
| 5926 31d4 9F4F sbci r25,hi8(-(255)) |
| 5927 31d6 AF4F sbci r26,hlo8(-(255)) |
| 5928 31d8 BF4F sbci r27,hhi8(-(255)) |
| 5929 .L457: |
| 5930 31da E92E mov r14,r25 |
| 5931 31dc FA2E mov r15,r26 |
| 5932 31de 0B2F mov r16,r27 |
| 5933 31e0 1127 clr r17 |
| 5934 31e2 07FD sbrc r16,7 |
| 5935 31e4 1A95 dec r17 |
| 5936 31e6 E092 0000 sts MittelIntegralNick,r14 |
| 5937 31ea F092 0000 sts (MittelIntegralNick)+1,r15 |
| 5938 31ee 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 5939 31f2 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 5940 31f6 8091 0000 lds r24,MittelIntegralRoll |
| 5941 31fa 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5942 31fe A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5943 3202 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5944 3206 B7FF sbrs r27,7 |
| 5945 3208 04C0 rjmp .L458 |
| 5946 320a 8150 subi r24,lo8(-(255)) |
| 5947 320c 9F4F sbci r25,hi8(-(255)) |
| 5948 320e AF4F sbci r26,hlo8(-(255)) |
| 5949 3210 BF4F sbci r27,hhi8(-(255)) |
| 5950 .L458: |
| 5951 3212 892F mov r24,r25 |
| 5952 3214 9A2F mov r25,r26 |
| 5953 3216 AB2F mov r26,r27 |
| 5954 3218 BB27 clr r27 |
| 5955 321a A7FD sbrc r26,7 |
| 5956 321c BA95 dec r27 |
| 5957 321e 8CA7 std Y+44,r24 |
| 5958 3220 9DA7 std Y+45,r25 |
| 5959 3222 AEA7 std Y+46,r26 |
| 5960 3224 BFA7 std Y+47,r27 |
| 5961 3226 8093 0000 sts MittelIntegralRoll,r24 |
| 5962 322a 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5963 322e A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5964 3232 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5965 3236 8091 0000 lds r24,EE_Parameter+28 |
| 5966 323a A82E mov r10,r24 |
| 5967 323c BB24 clr r11 |
| 5968 323e CC24 clr r12 |
| 5969 3240 DD24 clr r13 |
| 5970 3242 2091 0000 lds r18,IntegralAccNick |
| 5971 3246 3091 0000 lds r19,(IntegralAccNick)+1 |
| 5972 324a 4091 0000 lds r20,(IntegralAccNick)+2 |
| 5973 324e 5091 0000 lds r21,(IntegralAccNick)+3 |
| 5974 3252 C601 movw r24,r12 |
| 5975 3254 B501 movw r22,r10 |
| 5976 3256 0E94 0000 call __mulsi3 |
| 5977 325a 97FF sbrs r25,7 |
| 5978 325c 04C0 rjmp .L459 |
| 5979 325e 6150 subi r22,lo8(-(255)) |
| 5980 3260 7F4F sbci r23,hi8(-(255)) |
| 5981 3262 8F4F sbci r24,hlo8(-(255)) |
| 5982 3264 9F4F sbci r25,hhi8(-(255)) |
| 5983 .L459: |
| 5984 3266 672E mov r6,r23 |
| 5985 3268 782E mov r7,r24 |
| 5986 326a 892E mov r8,r25 |
| 5987 326c 9924 clr r9 |
| 5988 326e 87FC sbrc r8,7 |
| 5989 3270 9A94 dec r9 |
| 5990 3272 6092 0000 sts IntegralAccNick,r6 |
| 5991 3276 7092 0000 sts (IntegralAccNick)+1,r7 |
| 5992 327a 8092 0000 sts (IntegralAccNick)+2,r8 |
| 5993 327e 9092 0000 sts (IntegralAccNick)+3,r9 |
| 5994 3282 2091 0000 lds r18,IntegralAccRoll |
| 5995 3286 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 5996 328a 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 5997 328e 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 5998 3292 C601 movw r24,r12 |
| 5999 3294 B501 movw r22,r10 |
| 6000 3296 0E94 0000 call __mulsi3 |
| 6001 329a 97FF sbrs r25,7 |
| 6002 329c 04C0 rjmp .L460 |
| 6003 329e 6150 subi r22,lo8(-(255)) |
| 6004 32a0 7F4F sbci r23,hi8(-(255)) |
| 6005 32a2 8F4F sbci r24,hlo8(-(255)) |
| 6006 32a4 9F4F sbci r25,hhi8(-(255)) |
| 6007 .L460: |
| 6008 32a6 272E mov r2,r23 |
| 6009 32a8 382E mov r3,r24 |
| 6010 32aa 492E mov r4,r25 |
| 6011 32ac 5524 clr r5 |
| 6012 32ae 47FC sbrc r4,7 |
| 6013 32b0 5A94 dec r5 |
| 6014 32b2 2092 0000 sts IntegralAccRoll,r2 |
| 6015 32b6 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6016 32ba 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6017 32be 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6018 32c2 8091 0000 lds r24,IntegralAccZ |
| 6019 32c6 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6020 32ca A091 0000 lds r26,(IntegralAccZ)+2 |
| 6021 32ce B091 0000 lds r27,(IntegralAccZ)+3 |
| 6022 32d2 B7FF sbrs r27,7 |
| 6023 32d4 04C0 rjmp .L461 |
| 6024 32d6 8150 subi r24,lo8(-(255)) |
| 6025 32d8 9F4F sbci r25,hi8(-(255)) |
| 6026 32da AF4F sbci r26,hlo8(-(255)) |
| 6027 32dc BF4F sbci r27,hhi8(-(255)) |
| 6028 .L461: |
| 6029 32de 892F mov r24,r25 |
| 6030 32e0 9A2F mov r25,r26 |
| 6031 32e2 AB2F mov r26,r27 |
| 6032 32e4 BB27 clr r27 |
| 6033 32e6 A7FD sbrc r26,7 |
| 6034 32e8 BA95 dec r27 |
| 6035 32ea 8093 0000 sts IntegralAccZ,r24 |
| 6036 32ee 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6037 32f2 A093 0000 sts (IntegralAccZ)+2,r26 |
| 6038 32f6 B093 0000 sts (IntegralAccZ)+3,r27 |
| 6039 32fa D801 movw r26,r16 |
| 6040 32fc C701 movw r24,r14 |
| 6041 32fe 8619 sub r24,r6 |
| 6042 3300 9709 sbc r25,r7 |
| 6043 3302 A809 sbc r26,r8 |
| 6044 3304 B909 sbc r27,r9 |
| 6045 3306 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6046 330a 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6047 330e A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6048 3312 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6049 3316 2091 0000 lds r18,EE_Parameter+65 |
| 6050 331a E22E mov r14,r18 |
| 6051 331c FF24 clr r15 |
| 6052 331e 0027 clr r16 |
| 6053 3320 1127 clr r17 |
| 6054 3322 BC01 movw r22,r24 |
| 6055 3324 CD01 movw r24,r26 |
| 6056 3326 A801 movw r20,r16 |
| 6057 3328 9701 movw r18,r14 |
| 6058 332a 0E94 0000 call __divmodsi4 |
| 6059 332e 5901 movw r10,r18 |
| 6060 3330 6A01 movw r12,r20 |
| 6061 3332 2093 0000 sts ausgleichNick.11,r18 |
| 6062 3336 3093 0000 sts (ausgleichNick.11)+1,r19 |
| 6063 333a 4093 0000 sts (ausgleichNick.11)+2,r20 |
| 6064 333e 5093 0000 sts (ausgleichNick.11)+3,r21 |
| 6065 3342 8CA5 ldd r24,Y+44 |
| 6066 3344 9DA5 ldd r25,Y+45 |
| 6067 3346 AEA5 ldd r26,Y+46 |
| 6068 3348 BFA5 ldd r27,Y+47 |
| 6069 334a 8219 sub r24,r2 |
| 6070 334c 9309 sbc r25,r3 |
| 6071 334e A409 sbc r26,r4 |
| 6072 3350 B509 sbc r27,r5 |
| 6073 3352 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6074 3356 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6075 335a A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6076 335e B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6077 3362 BC01 movw r22,r24 |
| 6078 3364 CD01 movw r24,r26 |
| 6079 3366 A801 movw r20,r16 |
| 6080 3368 9701 movw r18,r14 |
| 6081 336a 0E94 0000 call __divmodsi4 |
| 6082 336e 2093 0000 sts ausgleichRoll.12,r18 |
| 6083 3372 3093 0000 sts (ausgleichRoll.12)+1,r19 |
| 6084 3376 4093 0000 sts (ausgleichRoll.12)+2,r20 |
| 6085 337a 5093 0000 sts (ausgleichRoll.12)+3,r21 |
| 6086 337e D601 movw r26,r12 |
| 6087 3380 C501 movw r24,r10 |
| 6088 3382 D7FE sbrs r13,7 |
| 6089 3384 04C0 rjmp .L462 |
| 6090 3386 8150 subi r24,lo8(-(255)) |
| 6091 3388 9F4F sbci r25,hi8(-(255)) |
| 6092 338a AF4F sbci r26,hlo8(-(255)) |
| 6093 338c BF4F sbci r27,hhi8(-(255)) |
| 6094 .L462: |
| 6095 338e 892F mov r24,r25 |
| 6096 3390 9A2F mov r25,r26 |
| 6097 3392 AB2F mov r26,r27 |
| 6098 3394 BB27 clr r27 |
| 6099 3396 A7FD sbrc r26,7 |
| 6100 3398 BA95 dec r27 |
| 6101 339a 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6102 339e 8093 0000 sts LageKorrekturNick,r24 |
| 6103 33a2 57FF sbrs r21,7 |
| 6104 33a4 04C0 rjmp .L463 |
| 6105 33a6 2150 subi r18,lo8(-(255)) |
| 6106 33a8 3F4F sbci r19,hi8(-(255)) |
| 6107 33aa 4F4F sbci r20,hlo8(-(255)) |
| 6108 33ac 5F4F sbci r21,hhi8(-(255)) |
| 6109 .L463: |
| 6110 33ae BB27 clr r27 |
| 6111 33b0 57FD sbrc r21,7 |
| 6112 33b2 BA95 dec r27 |
| 6113 33b4 A52F mov r26,r21 |
| 6114 33b6 942F mov r25,r20 |
| 6115 33b8 832F mov r24,r19 |
| 6116 33ba 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6117 33be 8093 0000 sts LageKorrekturRoll,r24 |
| 6118 33c2 8091 0000 lds r24,MaxStickNick |
| 6119 33c6 9091 0000 lds r25,(MaxStickNick)+1 |
| 6120 33ca 8134 cpi r24,65 |
| 6121 33cc 9105 cpc r25,__zero_reg__ |
| 6122 33ce DCF4 brge .L465 |
| 6123 33d0 8091 0000 lds r24,MaxStickRoll |
| 6124 33d4 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6125 33d8 8134 cpi r24,65 |
| 6126 33da 9105 cpc r25,__zero_reg__ |
| 6127 33dc A4F4 brge .L465 |
| 6128 33de 8091 0000 lds r24,EE_Parameter+4 |
| 6129 33e2 E82F mov r30,r24 |
| 6130 33e4 FF27 clr r31 |
| 6131 33e6 EE0F add r30,r30 |
| 6132 33e8 FF1F adc r31,r31 |
| 6133 33ea E050 subi r30,lo8(-(PPM_in)) |
| 6134 33ec F040 sbci r31,hi8(-(PPM_in)) |
| 6135 33ee 8081 ld r24,Z |
| 6136 33f0 9181 ldd r25,Z+1 |
| 6137 33f2 0190 ld __tmp_reg__,Z+ |
| 6138 33f4 F081 ld r31,Z |
| 6139 33f6 E02D mov r30,__tmp_reg__ |
| 6140 33f8 F7FF sbrs r31,7 |
| 6141 33fa 03C0 rjmp .L466 |
| 6142 33fc F095 com r31 |
| 6143 33fe E195 neg r30 |
| 6144 3400 FF4F sbci r31,lo8(-1) |
| 6145 .L466: |
| 6146 3402 7A97 sbiw r30,26 |
| 6147 3404 E4F0 brlt .L464 |
| 6148 .L465: |
| 6149 3406 8091 0000 lds r24,FromNaviCtrl_Value |
| 6150 340a 8F3F cpi r24,lo8(-1) |
| 6151 340c C1F4 brne .L464 |
| 6152 340e 8091 0000 lds r24,LageKorrekturNick |
| 6153 3412 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6154 3416 97FD sbrc r25,7 |
| 6155 3418 0196 adiw r24,1 |
| 6156 .L467: |
| 6157 341a 9595 asr r25 |
| 6158 341c 8795 ror r24 |
| 6159 341e 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6160 3422 8093 0000 sts LageKorrekturNick,r24 |
| 6161 3426 8091 0000 lds r24,LageKorrekturRoll |
| 6162 342a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6163 342e 97FD sbrc r25,7 |
| 6164 3430 0196 adiw r24,1 |
| 6165 .L468: |
| 6166 3432 9595 asr r25 |
| 6167 3434 8795 ror r24 |
| 6168 3436 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6169 343a 8093 0000 sts LageKorrekturRoll,r24 |
| 6170 .L464: |
| 6171 343e 8091 0000 lds r24,MittelIntegralNick2 |
| 6172 3442 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6173 3446 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6174 344a B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6175 344e B7FF sbrs r27,7 |
| 6176 3450 04C0 rjmp .L469 |
| 6177 3452 8150 subi r24,lo8(-(255)) |
| 6178 3454 9F4F sbci r25,hi8(-(255)) |
| 6179 3456 AF4F sbci r26,hlo8(-(255)) |
| 6180 3458 BF4F sbci r27,hhi8(-(255)) |
| 6181 .L469: |
| 6182 345a 892F mov r24,r25 |
| 6183 345c 9A2F mov r25,r26 |
| 6184 345e AB2F mov r26,r27 |
| 6185 3460 BB27 clr r27 |
| 6186 3462 A7FD sbrc r26,7 |
| 6187 3464 BA95 dec r27 |
| 6188 3466 8093 0000 sts MittelIntegralNick2,r24 |
| 6189 346a 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6190 346e A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6191 3472 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6192 3476 8091 0000 lds r24,MittelIntegralRoll2 |
| 6193 347a 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6194 347e A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6195 3482 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6196 3486 B7FF sbrs r27,7 |
| 6197 3488 04C0 rjmp .L470 |
| 6198 348a 8150 subi r24,lo8(-(255)) |
| 6199 348c 9F4F sbci r25,hi8(-(255)) |
| 6200 348e AF4F sbci r26,hlo8(-(255)) |
| 6201 3490 BF4F sbci r27,hhi8(-(255)) |
| 6202 .L470: |
| 6203 3492 892F mov r24,r25 |
| 6204 3494 9A2F mov r25,r26 |
| 6205 3496 AB2F mov r26,r27 |
| 6206 3498 BB27 clr r27 |
| 6207 349a A7FD sbrc r26,7 |
| 6208 349c BA95 dec r27 |
| 6209 349e 8093 0000 sts MittelIntegralRoll2,r24 |
| 6210 34a2 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6211 34a6 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6212 34aa B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6213 34ae 8091 0000 lds r24,IntegralNick |
| 6214 34b2 9091 0000 lds r25,(IntegralNick)+1 |
| 6215 34b6 A091 0000 lds r26,(IntegralNick)+2 |
| 6216 34ba B091 0000 lds r27,(IntegralNick)+3 |
| 6217 34be 2AA1 ldd r18,Y+34 |
| 6218 34c0 3BA1 ldd r19,Y+35 |
| 6219 34c2 4CA1 ldd r20,Y+36 |
| 6220 34c4 5DA1 ldd r21,Y+37 |
| 6221 34c6 281B sub r18,r24 |
| 6222 34c8 390B sbc r19,r25 |
| 6223 34ca 4A0B sbc r20,r26 |
| 6224 34cc 5B0B sbc r21,r27 |
| 6225 34ce 2093 0000 sts tmp_long.1,r18 |
| 6226 34d2 3093 0000 sts (tmp_long.1)+1,r19 |
| 6227 34d6 4093 0000 sts (tmp_long.1)+2,r20 |
| 6228 34da 5093 0000 sts (tmp_long.1)+3,r21 |
| 6229 34de 8091 0000 lds r24,IntegralRoll |
| 6230 34e2 9091 0000 lds r25,(IntegralRoll)+1 |
| 6231 34e6 A091 0000 lds r26,(IntegralRoll)+2 |
| 6232 34ea B091 0000 lds r27,(IntegralRoll)+3 |
| 6233 34ee EEA0 ldd r14,Y+38 |
| 6234 34f0 FFA0 ldd r15,Y+39 |
| 6235 34f2 08A5 ldd r16,Y+40 |
| 6236 34f4 19A5 ldd r17,Y+41 |
| 6237 34f6 E81A sub r14,r24 |
| 6238 34f8 F90A sbc r15,r25 |
| 6239 34fa 0A0B sbc r16,r26 |
| 6240 34fc 1B0B sbc r17,r27 |
| 6241 34fe E092 0000 sts tmp_long2.2,r14 |
| 6242 3502 F092 0000 sts (tmp_long2.2)+1,r15 |
| 6243 3506 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6244 350a 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6245 350e 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6246 3512 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6247 3516 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6248 351a 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6249 351e E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6250 3522 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6251 3526 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6252 352a 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6253 352e 8091 0000 lds r24,Mess_IntegralNick2 |
| 6254 3532 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6255 3536 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6256 353a B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6257 353e 821B sub r24,r18 |
| 6258 3540 930B sbc r25,r19 |
| 6259 3542 A40B sbc r26,r20 |
| 6260 3544 B50B sbc r27,r21 |
| 6261 3546 8093 0000 sts Mess_IntegralNick2,r24 |
| 6262 354a 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6263 354e A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6264 3552 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6265 3556 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6266 355a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6267 355e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6268 3562 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6269 3566 8E19 sub r24,r14 |
| 6270 3568 9F09 sbc r25,r15 |
| 6271 356a A00B sbc r26,r16 |
| 6272 356c B10B sbc r27,r17 |
| 6273 356e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6274 3572 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6275 3576 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6276 357a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6277 357e FBA5 ldd r31,Y+43 |
| 6278 3580 FF23 tst r31 |
| 6279 3582 E1F0 breq .L471 |
| 6280 3584 2091 0000 lds r18,GierGyroFehler |
| 6281 3588 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6282 358c 2138 cpi r18,129 |
| 6283 358e 3105 cpc r19,__zero_reg__ |
| 6284 3590 4CF0 brlt .L472 |
| 6285 3592 8091 0000 lds r24,AdNeutralGier |
| 6286 3596 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6287 359a 0196 adiw r24,1 |
| 6288 359c 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6289 35a0 8093 0000 sts AdNeutralGier,r24 |
| 6290 .L472: |
| 6291 35a4 2058 subi r18,lo8(-128) |
| 6292 35a6 3F4F sbci r19,hi8(-128) |
| 6293 35a8 4CF4 brge .L471 |
| 6294 35aa 8091 0000 lds r24,AdNeutralGier |
| 6295 35ae 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6296 35b2 0197 sbiw r24,1 |
| 6297 35b4 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6298 35b8 8093 0000 sts AdNeutralGier,r24 |
| 6299 .L471: |
| 6300 35bc 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6301 35c0 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6302 35c4 81E0 ldi r24,lo8(1) |
| 6303 35c6 90E0 ldi r25,hi8(1) |
| 6304 35c8 9093 0000 sts (cnt.15)+1,r25 |
| 6305 35cc 8093 0000 sts cnt.15,r24 |
| 6306 35d0 A090 0000 lds r10,IntegralFehlerNick.3 |
| 6307 35d4 B090 0000 lds r11,(IntegralFehlerNick.3)+1 |
| 6308 35d8 C090 0000 lds r12,(IntegralFehlerNick.3)+2 |
| 6309 35dc D090 0000 lds r13,(IntegralFehlerNick.3)+3 |
| 6310 35e0 D601 movw r26,r12 |
| 6311 35e2 C501 movw r24,r10 |
| 6312 35e4 D7FE sbrs r13,7 |
| 6313 35e6 07C0 rjmp .L475 |
| 6314 35e8 8827 clr r24 |
| 6315 35ea 9927 clr r25 |
| 6316 35ec DC01 movw r26,r24 |
| 6317 35ee 8A19 sub r24,r10 |
| 6318 35f0 9B09 sbc r25,r11 |
| 6319 35f2 AC09 sbc r26,r12 |
| 6320 35f4 BD09 sbc r27,r13 |
| 6321 .L475: |
| 6322 35f6 8150 subi r24,lo8(513) |
| 6323 35f8 9240 sbci r25,hi8(513) |
| 6324 35fa A040 sbci r26,hlo8(513) |
| 6325 35fc B040 sbci r27,hhi8(513) |
| 6326 35fe 34F0 brlt .L474 |
| 6327 3600 84E0 ldi r24,lo8(4) |
| 6328 3602 90E0 ldi r25,hi8(4) |
| 6329 3604 9093 0000 sts (cnt.15)+1,r25 |
| 6330 3608 8093 0000 sts cnt.15,r24 |
| 6331 .L474: |
| 6332 360c 8091 0000 lds r24,MittelIntegralNick_Alt.20 |
| 6333 3610 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+1 |
| 6334 3614 A091 0000 lds r26,(MittelIntegralNick_Alt.20)+2 |
| 6335 3618 B091 0000 lds r27,(MittelIntegralNick_Alt.20)+3 |
| 6336 361c 2091 0000 lds r18,MittelIntegralNick |
| 6337 3620 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6338 3624 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6339 3628 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6340 362c 821B sub r24,r18 |
| 6341 362e 930B sbc r25,r19 |
| 6342 3630 A40B sbc r26,r20 |
| 6343 3632 B50B sbc r27,r21 |
| 6344 3634 815E subi r24,lo8(-(19999)) |
| 6345 3636 914B sbci r25,hi8(-(19999)) |
| 6346 3638 AF4F sbci r26,hlo8(-(19999)) |
| 6347 363a BF4F sbci r27,hhi8(-(19999)) |
| 6348 363c 8F53 subi r24,lo8(39999) |
| 6349 363e 9C49 sbci r25,hi8(39999) |
| 6350 3640 A040 sbci r26,hlo8(39999) |
| 6351 3642 B040 sbci r27,hhi8(39999) |
| 6352 3644 28F0 brlo .L477 |
| 6353 3646 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6354 364a 8931 cpi r24,lo8(25) |
| 6355 364c 0CF4 brge .+2 |
| 6356 364e FFC0 rjmp .L476 |
| 6357 .L477: |
| 6358 3650 31E0 ldi r19,lo8(4097) |
| 6359 3652 A316 cp r10,r19 |
| 6360 3654 30E1 ldi r19,hi8(4097) |
| 6361 3656 B306 cpc r11,r19 |
| 6362 3658 30E0 ldi r19,hlo8(4097) |
| 6363 365a C306 cpc r12,r19 |
| 6364 365c 30E0 ldi r19,hhi8(4097) |
| 6365 365e D306 cpc r13,r19 |
| 6366 3660 0CF4 brge .+2 |
| 6367 3662 73C0 rjmp .L478 |
| 6368 3664 8091 0000 lds r24,last_n_p.16 |
| 6369 3668 8823 tst r24 |
| 6370 366a 09F4 brne .+2 |
| 6371 366c 6AC0 rjmp .L479 |
| 6372 366e D601 movw r26,r12 |
| 6373 3670 C501 movw r24,r10 |
| 6374 3672 D7FE sbrs r13,7 |
| 6375 3674 07C0 rjmp .L480 |
| 6376 3676 8827 clr r24 |
| 6377 3678 9927 clr r25 |
| 6378 367a DC01 movw r26,r24 |
| 6379 367c 8A19 sub r24,r10 |
| 6380 367e 9B09 sbc r25,r11 |
| 6381 3680 AC09 sbc r26,r12 |
| 6382 3682 BD09 sbc r27,r13 |
| 6383 .L480: |
| 6384 3684 9C01 movw r18,r24 |
| 6385 3686 AD01 movw r20,r26 |
| 6386 3688 B7FF sbrs r27,7 |
| 6387 368a 04C0 rjmp .L481 |
| 6388 368c 2150 subi r18,lo8(-(511)) |
| 6389 368e 3E4F sbci r19,hi8(-(511)) |
| 6390 3690 4F4F sbci r20,hlo8(-(511)) |
| 6391 3692 5F4F sbci r21,hhi8(-(511)) |
| 6392 .L481: |
| 6393 3694 09E0 ldi r16,9 |
| 6394 3696 5595 1: asr r21 |
| 6395 3698 4795 ror r20 |
| 6396 369a 3795 ror r19 |
| 6397 369c 2795 ror r18 |
| 6398 369e 0A95 dec r16 |
| 6399 36a0 D1F7 brne 1b |
| 6400 36a2 8091 0000 lds r24,cnt.15 |
| 6401 36a6 9091 0000 lds r25,(cnt.15)+1 |
| 6402 36aa 820F add r24,r18 |
| 6403 36ac 931F adc r25,r19 |
| 6404 36ae 9093 0000 sts (cnt.15)+1,r25 |
| 6405 36b2 8093 0000 sts cnt.15,r24 |
| 6406 36b6 D601 movw r26,r12 |
| 6407 36b8 C501 movw r24,r10 |
| 6408 36ba D7FE sbrs r13,7 |
| 6409 36bc 03C0 rjmp .L482 |
| 6410 36be 0796 adiw r24,7 |
| 6411 36c0 A11D adc r26,__zero_reg__ |
| 6412 36c2 B11D adc r27,__zero_reg__ |
| 6413 .L482: |
| 6414 36c4 13E0 ldi r17,3 |
| 6415 36c6 B595 1: asr r27 |
| 6416 36c8 A795 ror r26 |
| 6417 36ca 9795 ror r25 |
| 6418 36cc 8795 ror r24 |
| 6419 36ce 1A95 dec r17 |
| 6420 36d0 D1F7 brne 1b |
| 6421 36d2 8093 0000 sts ausgleichNick.11,r24 |
| 6422 36d6 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6423 36da A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6424 36de B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6425 36e2 8958 subi r24,lo8(5001) |
| 6426 36e4 9341 sbci r25,hi8(5001) |
| 6427 36e6 A040 sbci r26,hlo8(5001) |
| 6428 36e8 B040 sbci r27,hhi8(5001) |
| 6429 36ea 64F0 brlt .L483 |
| 6430 36ec 88E8 ldi r24,lo8(5000) |
| 6431 36ee 93E1 ldi r25,hi8(5000) |
| 6432 36f0 A0E0 ldi r26,hlo8(5000) |
| 6433 36f2 B0E0 ldi r27,hhi8(5000) |
| 6434 36f4 8093 0000 sts ausgleichNick.11,r24 |
| 6435 36f8 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6436 36fc A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6437 3700 B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6438 .L483: |
| 6439 3704 2091 0000 lds r18,ausgleichNick.11 |
| 6440 3708 3091 0000 lds r19,(ausgleichNick.11)+1 |
| 6441 370c 4091 0000 lds r20,(ausgleichNick.11)+2 |
| 6442 3710 5091 0000 lds r21,(ausgleichNick.11)+3 |
| 6443 3714 57FF sbrs r21,7 |
| 6444 3716 04C0 rjmp .L484 |
| 6445 3718 2150 subi r18,lo8(-(255)) |
| 6446 371a 3F4F sbci r19,hi8(-(255)) |
| 6447 371c 4F4F sbci r20,hlo8(-(255)) |
| 6448 371e 5F4F sbci r21,hhi8(-(255)) |
| 6449 .L484: |
| 6450 3720 232F mov r18,r19 |
| 6451 3722 342F mov r19,r20 |
| 6452 3724 452F mov r20,r21 |
| 6453 3726 5527 clr r21 |
| 6454 3728 47FD sbrc r20,7 |
| 6455 372a 5A95 dec r21 |
| 6456 372c 8091 0000 lds r24,LageKorrekturNick |
| 6457 3730 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6458 3734 820F add r24,r18 |
| 6459 3736 931F adc r25,r19 |
| 6460 3738 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6461 373c 8093 0000 sts LageKorrekturNick,r24 |
| 6462 3740 06C0 rjmp .L486 |
| 6463 .L479: |
| 6464 3742 81E0 ldi r24,lo8(1) |
| 6465 3744 8093 0000 sts last_n_p.16,r24 |
| 6466 3748 02C0 rjmp .L486 |
| 6467 .L478: |
| 6468 374a 1092 0000 sts last_n_p.16,__zero_reg__ |
| 6469 .L486: |
| 6470 374e 50E0 ldi r21,lo8(-4096) |
| 6471 3750 A516 cp r10,r21 |
| 6472 3752 50EF ldi r21,hi8(-4096) |
| 6473 3754 B506 cpc r11,r21 |
| 6474 3756 5FEF ldi r21,hlo8(-4096) |
| 6475 3758 C506 cpc r12,r21 |
| 6476 375a 5FEF ldi r21,hhi8(-4096) |
| 6477 375c D506 cpc r13,r21 |
| 6478 375e 0CF0 brlt .+2 |
| 6479 3760 73C0 rjmp .L487 |
| 6480 3762 8091 0000 lds r24,last_n_n.17 |
| 6481 3766 8823 tst r24 |
| 6482 3768 09F4 brne .+2 |
| 6483 376a 6AC0 rjmp .L488 |
| 6484 376c D601 movw r26,r12 |
| 6485 376e C501 movw r24,r10 |
| 6486 3770 D7FE sbrs r13,7 |
| 6487 3772 07C0 rjmp .L489 |
| 6488 3774 8827 clr r24 |
| 6489 3776 9927 clr r25 |
| 6490 3778 DC01 movw r26,r24 |
| 6491 377a 8A19 sub r24,r10 |
| 6492 377c 9B09 sbc r25,r11 |
| 6493 377e AC09 sbc r26,r12 |
| 6494 3780 BD09 sbc r27,r13 |
| 6495 .L489: |
| 6496 3782 9C01 movw r18,r24 |
| 6497 3784 AD01 movw r20,r26 |
| 6498 3786 B7FF sbrs r27,7 |
| 6499 3788 04C0 rjmp .L490 |
| 6500 378a 2150 subi r18,lo8(-(511)) |
| 6501 378c 3E4F sbci r19,hi8(-(511)) |
| 6502 378e 4F4F sbci r20,hlo8(-(511)) |
| 6503 3790 5F4F sbci r21,hhi8(-(511)) |
| 6504 .L490: |
| 6505 3792 F9E0 ldi r31,9 |
| 6506 3794 5595 1: asr r21 |
| 6507 3796 4795 ror r20 |
| 6508 3798 3795 ror r19 |
| 6509 379a 2795 ror r18 |
| 6510 379c FA95 dec r31 |
| 6511 379e D1F7 brne 1b |
| 6512 37a0 8091 0000 lds r24,cnt.15 |
| 6513 37a4 9091 0000 lds r25,(cnt.15)+1 |
| 6514 37a8 820F add r24,r18 |
| 6515 37aa 931F adc r25,r19 |
| 6516 37ac 9093 0000 sts (cnt.15)+1,r25 |
| 6517 37b0 8093 0000 sts cnt.15,r24 |
| 6518 37b4 D601 movw r26,r12 |
| 6519 37b6 C501 movw r24,r10 |
| 6520 37b8 D7FE sbrs r13,7 |
| 6521 37ba 03C0 rjmp .L491 |
| 6522 37bc 0796 adiw r24,7 |
| 6523 37be A11D adc r26,__zero_reg__ |
| 6524 37c0 B11D adc r27,__zero_reg__ |
| 6525 .L491: |
| 6526 37c2 E3E0 ldi r30,3 |
| 6527 37c4 B595 1: asr r27 |
| 6528 37c6 A795 ror r26 |
| 6529 37c8 9795 ror r25 |
| 6530 37ca 8795 ror r24 |
| 6531 37cc EA95 dec r30 |
| 6532 37ce D1F7 brne 1b |
| 6533 37d0 8093 0000 sts ausgleichNick.11,r24 |
| 6534 37d4 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6535 37d8 A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6536 37dc B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6537 37e0 8857 subi r24,lo8(-5000) |
| 6538 37e2 9C4E sbci r25,hi8(-5000) |
| 6539 37e4 AF4F sbci r26,hlo8(-5000) |
| 6540 37e6 BF4F sbci r27,hhi8(-5000) |
| 6541 37e8 64F4 brge .L492 |
| 6542 37ea 88E7 ldi r24,lo8(-5000) |
| 6543 37ec 9CEE ldi r25,hi8(-5000) |
| 6544 37ee AFEF ldi r26,hlo8(-5000) |
| 6545 37f0 BFEF ldi r27,hhi8(-5000) |
| 6546 37f2 8093 0000 sts ausgleichNick.11,r24 |
| 6547 37f6 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6548 37fa A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6549 37fe B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6550 .L492: |
| 6551 3802 2091 0000 lds r18,ausgleichNick.11 |
| 6552 3806 3091 0000 lds r19,(ausgleichNick.11)+1 |
| 6553 380a 4091 0000 lds r20,(ausgleichNick.11)+2 |
| 6554 380e 5091 0000 lds r21,(ausgleichNick.11)+3 |
| 6555 3812 57FF sbrs r21,7 |
| 6556 3814 04C0 rjmp .L493 |
| 6557 3816 2150 subi r18,lo8(-(255)) |
| 6558 3818 3F4F sbci r19,hi8(-(255)) |
| 6559 381a 4F4F sbci r20,hlo8(-(255)) |
| 6560 381c 5F4F sbci r21,hhi8(-(255)) |
| 6561 .L493: |
| 6562 381e 232F mov r18,r19 |
| 6563 3820 342F mov r19,r20 |
| 6564 3822 452F mov r20,r21 |
| 6565 3824 5527 clr r21 |
| 6566 3826 47FD sbrc r20,7 |
| 6567 3828 5A95 dec r21 |
| 6568 382a 8091 0000 lds r24,LageKorrekturNick |
| 6569 382e 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6570 3832 820F add r24,r18 |
| 6571 3834 931F adc r25,r19 |
| 6572 3836 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6573 383a 8093 0000 sts LageKorrekturNick,r24 |
| 6574 383e 11C0 rjmp .L496 |
| 6575 .L488: |
| 6576 3840 81E0 ldi r24,lo8(1) |
| 6577 3842 8093 0000 sts last_n_n.17,r24 |
| 6578 3846 0DC0 rjmp .L496 |
| 6579 .L487: |
| 6580 3848 1092 0000 sts last_n_n.17,__zero_reg__ |
| 6581 384c 0AC0 rjmp .L496 |
| 6582 .L476: |
| 6583 384e 1092 0000 sts (cnt.15)+1,__zero_reg__ |
| 6584 3852 1092 0000 sts cnt.15,__zero_reg__ |
| 6585 3856 88EE ldi r24,lo8(1000) |
| 6586 3858 93E0 ldi r25,hi8(1000) |
| 6587 385a 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 6588 385e 8093 0000 sts KompassSignalSchlecht,r24 |
| 6589 .L496: |
| 6590 3862 7BA5 ldd r23,Y+43 |
| 6591 3864 272F mov r18,r23 |
| 6592 3866 3327 clr r19 |
| 6593 3868 8091 0000 lds r24,cnt.15 |
| 6594 386c 9091 0000 lds r25,(cnt.15)+1 |
| 6595 3870 2817 cp r18,r24 |
| 6596 3872 3907 cpc r19,r25 |
| 6597 3874 24F4 brge .L497 |
| 6598 3876 3093 0000 sts (cnt.15)+1,r19 |
| 6599 387a 2093 0000 sts cnt.15,r18 |
| 6600 .L497: |
| 6601 387e E091 0000 lds r30,FromNaviCtrl_Value+1 |
| 6602 3882 EE23 tst r30 |
| 6603 3884 79F0 breq .L498 |
| 6604 3886 2E2F mov r18,r30 |
| 6605 3888 3327 clr r19 |
| 6606 388a 27FD sbrc r18,7 |
| 6607 388c 3095 com r19 |
| 6608 388e 8091 0000 lds r24,cnt.15 |
| 6609 3892 9091 0000 lds r25,(cnt.15)+1 |
| 6610 3896 2817 cp r18,r24 |
| 6611 3898 3907 cpc r19,r25 |
| 6612 389a 24F4 brge .L498 |
| 6613 389c 3093 0000 sts (cnt.15)+1,r19 |
| 6614 38a0 2093 0000 sts cnt.15,r18 |
| 6615 .L498: |
| 6616 38a4 4091 0000 lds r20,IntegralFehlerNick.3 |
| 6617 38a8 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 6618 38ac 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 6619 38b0 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 6620 38b4 4138 cpi r20,lo8(129) |
| 6621 38b6 5105 cpc r21,__zero_reg__ |
| 6622 38b8 6105 cpc r22,__zero_reg__ |
| 6623 38ba 7105 cpc r23,__zero_reg__ |
| 6624 38bc 74F0 brlt .L500 |
| 6625 38be 8091 0000 lds r24,AdNeutralNick |
| 6626 38c2 9091 0000 lds r25,(AdNeutralNick)+1 |
| 6627 38c6 2091 0000 lds r18,cnt.15 |
| 6628 38ca 3091 0000 lds r19,(cnt.15)+1 |
| 6629 38ce 820F add r24,r18 |
| 6630 38d0 931F adc r25,r19 |
| 6631 38d2 9093 0000 sts (AdNeutralNick)+1,r25 |
| 6632 38d6 8093 0000 sts AdNeutralNick,r24 |
| 6633 .L500: |
| 6634 38da 4058 subi r20,lo8(-128) |
| 6635 38dc 5F4F sbci r21,hi8(-128) |
| 6636 38de 6F4F sbci r22,hlo8(-128) |
| 6637 38e0 7F4F sbci r23,hhi8(-128) |
| 6638 38e2 74F4 brge .L501 |
| 6639 38e4 8091 0000 lds r24,AdNeutralNick |
| 6640 38e8 9091 0000 lds r25,(AdNeutralNick)+1 |
| 6641 38ec 2091 0000 lds r18,cnt.15 |
| 6642 38f0 3091 0000 lds r19,(cnt.15)+1 |
| 6643 38f4 821B sub r24,r18 |
| 6644 38f6 930B sbc r25,r19 |
| 6645 38f8 9093 0000 sts (AdNeutralNick)+1,r25 |
| 6646 38fc 8093 0000 sts AdNeutralNick,r24 |
| 6647 .L501: |
| 6648 3900 81E0 ldi r24,lo8(1) |
| 6649 3902 90E0 ldi r25,hi8(1) |
| 6650 3904 9093 0000 sts (cnt.15)+1,r25 |
| 6651 3908 8093 0000 sts cnt.15,r24 |
| 6652 390c A090 0000 lds r10,IntegralFehlerRoll.4 |
| 6653 3910 B090 0000 lds r11,(IntegralFehlerRoll.4)+1 |
| 6654 3914 C090 0000 lds r12,(IntegralFehlerRoll.4)+2 |
| 6655 3918 D090 0000 lds r13,(IntegralFehlerRoll.4)+3 |
| 6656 391c D601 movw r26,r12 |
| 6657 391e C501 movw r24,r10 |
| 6658 3920 D7FE sbrs r13,7 |
| 6659 3922 07C0 rjmp .L503 |
| 6660 3924 8827 clr r24 |
| 6661 3926 9927 clr r25 |
| 6662 3928 DC01 movw r26,r24 |
| 6663 392a 8A19 sub r24,r10 |
| 6664 392c 9B09 sbc r25,r11 |
| 6665 392e AC09 sbc r26,r12 |
| 6666 3930 BD09 sbc r27,r13 |
| 6667 .L503: |
| 6668 3932 8150 subi r24,lo8(513) |
| 6669 3934 9240 sbci r25,hi8(513) |
| 6670 3936 A040 sbci r26,hlo8(513) |
| 6671 3938 B040 sbci r27,hhi8(513) |
| 6672 393a 34F0 brlt .L502 |
| 6673 393c 84E0 ldi r24,lo8(4) |
| 6674 393e 90E0 ldi r25,hi8(4) |
| 6675 3940 9093 0000 sts (cnt.15)+1,r25 |
| 6676 3944 8093 0000 sts cnt.15,r24 |
| 6677 .L502: |
| 6678 3948 8091 0000 lds r24,MittelIntegralRoll_Alt.21 |
| 6679 394c 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+1 |
| 6680 3950 A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+2 |
| 6681 3954 B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+3 |
| 6682 3958 2091 0000 lds r18,MittelIntegralRoll |
| 6683 395c 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 6684 3960 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 6685 3964 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 6686 3968 821B sub r24,r18 |
| 6687 396a 930B sbc r25,r19 |
| 6688 396c A40B sbc r26,r20 |
| 6689 396e B50B sbc r27,r21 |
| 6690 3970 815E subi r24,lo8(-(19999)) |
| 6691 3972 914B sbci r25,hi8(-(19999)) |
| 6692 3974 AF4F sbci r26,hlo8(-(19999)) |
| 6693 3976 BF4F sbci r27,hhi8(-(19999)) |
| 6694 3978 8F53 subi r24,lo8(39999) |
| 6695 397a 9C49 sbci r25,hi8(39999) |
| 6696 397c A040 sbci r26,hlo8(39999) |
| 6697 397e B040 sbci r27,hhi8(39999) |
| 6698 3980 18F0 brlo .L505 |
| 6699 3982 E931 cpi r30,lo8(25) |
| 6700 3984 0CF4 brge .+2 |
| 6701 3986 FFC0 rjmp .L504 |
| 6702 .L505: |
| 6703 3988 11E0 ldi r17,lo8(4097) |
| 6704 398a A116 cp r10,r17 |
| 6705 398c 10E1 ldi r17,hi8(4097) |
| 6706 398e B106 cpc r11,r17 |
| 6707 3990 10E0 ldi r17,hlo8(4097) |
| 6708 3992 C106 cpc r12,r17 |
| 6709 3994 10E0 ldi r17,hhi8(4097) |
| 6710 3996 D106 cpc r13,r17 |
| 6711 3998 0CF4 brge .+2 |
| 6712 399a 73C0 rjmp .L506 |
| 6713 399c 8091 0000 lds r24,last_r_p.18 |
| 6714 39a0 8823 tst r24 |
| 6715 39a2 09F4 brne .+2 |
| 6716 39a4 6AC0 rjmp .L507 |
| 6717 39a6 D601 movw r26,r12 |
| 6718 39a8 C501 movw r24,r10 |
| 6719 39aa D7FE sbrs r13,7 |
| 6720 39ac 07C0 rjmp .L508 |
| 6721 39ae 8827 clr r24 |
| 6722 39b0 9927 clr r25 |
| 6723 39b2 DC01 movw r26,r24 |
| 6724 39b4 8A19 sub r24,r10 |
| 6725 39b6 9B09 sbc r25,r11 |
| 6726 39b8 AC09 sbc r26,r12 |
| 6727 39ba BD09 sbc r27,r13 |
| 6728 .L508: |
| 6729 39bc 9C01 movw r18,r24 |
| 6730 39be AD01 movw r20,r26 |
| 6731 39c0 B7FF sbrs r27,7 |
| 6732 39c2 04C0 rjmp .L509 |
| 6733 39c4 2150 subi r18,lo8(-(511)) |
| 6734 39c6 3E4F sbci r19,hi8(-(511)) |
| 6735 39c8 4F4F sbci r20,hlo8(-(511)) |
| 6736 39ca 5F4F sbci r21,hhi8(-(511)) |
| 6737 .L509: |
| 6738 39cc 69E0 ldi r22,9 |
| 6739 39ce 5595 1: asr r21 |
| 6740 39d0 4795 ror r20 |
| 6741 39d2 3795 ror r19 |
| 6742 39d4 2795 ror r18 |
| 6743 39d6 6A95 dec r22 |
| 6744 39d8 D1F7 brne 1b |
| 6745 39da 8091 0000 lds r24,cnt.15 |
| 6746 39de 9091 0000 lds r25,(cnt.15)+1 |
| 6747 39e2 820F add r24,r18 |
| 6748 39e4 931F adc r25,r19 |
| 6749 39e6 9093 0000 sts (cnt.15)+1,r25 |
| 6750 39ea 8093 0000 sts cnt.15,r24 |
| 6751 39ee D601 movw r26,r12 |
| 6752 39f0 C501 movw r24,r10 |
| 6753 39f2 D7FE sbrs r13,7 |
| 6754 39f4 03C0 rjmp .L510 |
| 6755 39f6 0796 adiw r24,7 |
| 6756 39f8 A11D adc r26,__zero_reg__ |
| 6757 39fa B11D adc r27,__zero_reg__ |
| 6758 .L510: |
| 6759 39fc 23E0 ldi r18,3 |
| 6760 39fe B595 1: asr r27 |
| 6761 3a00 A795 ror r26 |
| 6762 3a02 9795 ror r25 |
| 6763 3a04 8795 ror r24 |
| 6764 3a06 2A95 dec r18 |
| 6765 3a08 D1F7 brne 1b |
| 6766 3a0a 8093 0000 sts ausgleichRoll.12,r24 |
| 6767 3a0e 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6768 3a12 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6769 3a16 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6770 3a1a 8958 subi r24,lo8(5001) |
| 6771 3a1c 9341 sbci r25,hi8(5001) |
| 6772 3a1e A040 sbci r26,hlo8(5001) |
| 6773 3a20 B040 sbci r27,hhi8(5001) |
| 6774 3a22 64F0 brlt .L511 |
| 6775 3a24 88E8 ldi r24,lo8(5000) |
| 6776 3a26 93E1 ldi r25,hi8(5000) |
| 6777 3a28 A0E0 ldi r26,hlo8(5000) |
| 6778 3a2a B0E0 ldi r27,hhi8(5000) |
| 6779 3a2c 8093 0000 sts ausgleichRoll.12,r24 |
| 6780 3a30 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6781 3a34 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6782 3a38 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6783 .L511: |
| 6784 3a3c 2091 0000 lds r18,ausgleichRoll.12 |
| 6785 3a40 3091 0000 lds r19,(ausgleichRoll.12)+1 |
| 6786 3a44 4091 0000 lds r20,(ausgleichRoll.12)+2 |
| 6787 3a48 5091 0000 lds r21,(ausgleichRoll.12)+3 |
| 6788 3a4c 57FF sbrs r21,7 |
| 6789 3a4e 04C0 rjmp .L512 |
| 6790 3a50 2150 subi r18,lo8(-(255)) |
| 6791 3a52 3F4F sbci r19,hi8(-(255)) |
| 6792 3a54 4F4F sbci r20,hlo8(-(255)) |
| 6793 3a56 5F4F sbci r21,hhi8(-(255)) |
| 6794 .L512: |
| 6795 3a58 232F mov r18,r19 |
| 6796 3a5a 342F mov r19,r20 |
| 6797 3a5c 452F mov r20,r21 |
| 6798 3a5e 5527 clr r21 |
| 6799 3a60 47FD sbrc r20,7 |
| 6800 3a62 5A95 dec r21 |
| 6801 3a64 8091 0000 lds r24,LageKorrekturRoll |
| 6802 3a68 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6803 3a6c 820F add r24,r18 |
| 6804 3a6e 931F adc r25,r19 |
| 6805 3a70 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6806 3a74 8093 0000 sts LageKorrekturRoll,r24 |
| 6807 3a78 06C0 rjmp .L514 |
| 6808 .L507: |
| 6809 3a7a 81E0 ldi r24,lo8(1) |
| 6810 3a7c 8093 0000 sts last_r_p.18,r24 |
| 6811 3a80 02C0 rjmp .L514 |
| 6812 .L506: |
| 6813 3a82 1092 0000 sts last_r_p.18,__zero_reg__ |
| 6814 .L514: |
| 6815 3a86 30E0 ldi r19,lo8(-4096) |
| 6816 3a88 A316 cp r10,r19 |
| 6817 3a8a 30EF ldi r19,hi8(-4096) |
| 6818 3a8c B306 cpc r11,r19 |
| 6819 3a8e 3FEF ldi r19,hlo8(-4096) |
| 6820 3a90 C306 cpc r12,r19 |
| 6821 3a92 3FEF ldi r19,hhi8(-4096) |
| 6822 3a94 D306 cpc r13,r19 |
| 6823 3a96 0CF0 brlt .+2 |
| 6824 3a98 73C0 rjmp .L515 |
| 6825 3a9a 8091 0000 lds r24,last_r_n.19 |
| 6826 3a9e 8823 tst r24 |
| 6827 3aa0 09F4 brne .+2 |
| 6828 3aa2 6AC0 rjmp .L516 |
| 6829 3aa4 D601 movw r26,r12 |
| 6830 3aa6 C501 movw r24,r10 |
| 6831 3aa8 D7FE sbrs r13,7 |
| 6832 3aaa 07C0 rjmp .L517 |
| 6833 3aac 8827 clr r24 |
| 6834 3aae 9927 clr r25 |
| 6835 3ab0 DC01 movw r26,r24 |
| 6836 3ab2 8A19 sub r24,r10 |
| 6837 3ab4 9B09 sbc r25,r11 |
| 6838 3ab6 AC09 sbc r26,r12 |
| 6839 3ab8 BD09 sbc r27,r13 |
| 6840 .L517: |
| 6841 3aba 9C01 movw r18,r24 |
| 6842 3abc AD01 movw r20,r26 |
| 6843 3abe B7FF sbrs r27,7 |
| 6844 3ac0 04C0 rjmp .L518 |
| 6845 3ac2 2150 subi r18,lo8(-(511)) |
| 6846 3ac4 3E4F sbci r19,hi8(-(511)) |
| 6847 3ac6 4F4F sbci r20,hlo8(-(511)) |
| 6848 3ac8 5F4F sbci r21,hhi8(-(511)) |
| 6849 .L518: |
| 6850 3aca 09E0 ldi r16,9 |
| 6851 3acc 5595 1: asr r21 |
| 6852 3ace 4795 ror r20 |
| 6853 3ad0 3795 ror r19 |
| 6854 3ad2 2795 ror r18 |
| 6855 3ad4 0A95 dec r16 |
| 6856 3ad6 D1F7 brne 1b |
| 6857 3ad8 8091 0000 lds r24,cnt.15 |
| 6858 3adc 9091 0000 lds r25,(cnt.15)+1 |
| 6859 3ae0 820F add r24,r18 |
| 6860 3ae2 931F adc r25,r19 |
| 6861 3ae4 9093 0000 sts (cnt.15)+1,r25 |
| 6862 3ae8 8093 0000 sts cnt.15,r24 |
| 6863 3aec D601 movw r26,r12 |
| 6864 3aee C501 movw r24,r10 |
| 6865 3af0 D7FE sbrs r13,7 |
| 6866 3af2 03C0 rjmp .L519 |
| 6867 3af4 0796 adiw r24,7 |
| 6868 3af6 A11D adc r26,__zero_reg__ |
| 6869 3af8 B11D adc r27,__zero_reg__ |
| 6870 .L519: |
| 6871 3afa 13E0 ldi r17,3 |
| 6872 3afc B595 1: asr r27 |
| 6873 3afe A795 ror r26 |
| 6874 3b00 9795 ror r25 |
| 6875 3b02 8795 ror r24 |
| 6876 3b04 1A95 dec r17 |
| 6877 3b06 D1F7 brne 1b |
| 6878 3b08 8093 0000 sts ausgleichRoll.12,r24 |
| 6879 3b0c 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6880 3b10 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6881 3b14 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6882 3b18 8857 subi r24,lo8(-5000) |
| 6883 3b1a 9C4E sbci r25,hi8(-5000) |
| 6884 3b1c AF4F sbci r26,hlo8(-5000) |
| 6885 3b1e BF4F sbci r27,hhi8(-5000) |
| 6886 3b20 64F4 brge .L520 |
| 6887 3b22 88E7 ldi r24,lo8(-5000) |
| 6888 3b24 9CEE ldi r25,hi8(-5000) |
| 6889 3b26 AFEF ldi r26,hlo8(-5000) |
| 6890 3b28 BFEF ldi r27,hhi8(-5000) |
| 6891 3b2a 8093 0000 sts ausgleichRoll.12,r24 |
| 6892 3b2e 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6893 3b32 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6894 3b36 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6895 .L520: |
| 6896 3b3a 2091 0000 lds r18,ausgleichRoll.12 |
| 6897 3b3e 3091 0000 lds r19,(ausgleichRoll.12)+1 |
| 6898 3b42 4091 0000 lds r20,(ausgleichRoll.12)+2 |
| 6899 3b46 5091 0000 lds r21,(ausgleichRoll.12)+3 |
| 6900 3b4a 57FF sbrs r21,7 |
| 6901 3b4c 04C0 rjmp .L521 |
| 6902 3b4e 2150 subi r18,lo8(-(255)) |
| 6903 3b50 3F4F sbci r19,hi8(-(255)) |
| 6904 3b52 4F4F sbci r20,hlo8(-(255)) |
| 6905 3b54 5F4F sbci r21,hhi8(-(255)) |
| 6906 .L521: |
| 6907 3b56 232F mov r18,r19 |
| 6908 3b58 342F mov r19,r20 |
| 6909 3b5a 452F mov r20,r21 |
| 6910 3b5c 5527 clr r21 |
| 6911 3b5e 47FD sbrc r20,7 |
| 6912 3b60 5A95 dec r21 |
| 6913 3b62 8091 0000 lds r24,LageKorrekturRoll |
| 6914 3b66 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6915 3b6a 820F add r24,r18 |
| 6916 3b6c 931F adc r25,r19 |
| 6917 3b6e 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6918 3b72 8093 0000 sts LageKorrekturRoll,r24 |
| 6919 3b76 11C0 rjmp .L524 |
| 6920 .L516: |
| 6921 3b78 81E0 ldi r24,lo8(1) |
| 6922 3b7a 8093 0000 sts last_r_n.19,r24 |
| 6923 3b7e 0DC0 rjmp .L524 |
| 6924 .L515: |
| 6925 3b80 1092 0000 sts last_r_n.19,__zero_reg__ |
| 6926 3b84 0AC0 rjmp .L524 |
| 6927 .L504: |
| 6928 3b86 1092 0000 sts (cnt.15)+1,__zero_reg__ |
| 6929 3b8a 1092 0000 sts cnt.15,__zero_reg__ |
| 6930 3b8e 88EE ldi r24,lo8(1000) |
| 6931 3b90 93E0 ldi r25,hi8(1000) |
| 6932 3b92 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 6933 3b96 8093 0000 sts KompassSignalSchlecht,r24 |
| 6934 .L524: |
| 6935 3b9a 5BA5 ldd r21,Y+43 |
| 6936 3b9c 252F mov r18,r21 |
| 6937 3b9e 3327 clr r19 |
| 6938 3ba0 8091 0000 lds r24,cnt.15 |
| 6939 3ba4 9091 0000 lds r25,(cnt.15)+1 |
| 6940 3ba8 2817 cp r18,r24 |
| 6941 3baa 3907 cpc r19,r25 |
| 6942 3bac 24F4 brge .L525 |
| 6943 3bae 3093 0000 sts (cnt.15)+1,r19 |
| 6944 3bb2 2093 0000 sts cnt.15,r18 |
| 6945 .L525: |
| 6946 3bb6 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6947 3bba 8823 tst r24 |
| 6948 3bbc 79F0 breq .L526 |
| 6949 3bbe 282F mov r18,r24 |
| 6950 3bc0 3327 clr r19 |
| 6951 3bc2 27FD sbrc r18,7 |
| 6952 3bc4 3095 com r19 |
| 6953 3bc6 8091 0000 lds r24,cnt.15 |
| 6954 3bca 9091 0000 lds r25,(cnt.15)+1 |
| 6955 3bce 2817 cp r18,r24 |
| 6956 3bd0 3907 cpc r19,r25 |
| 6957 3bd2 24F4 brge .L526 |
| 6958 3bd4 3093 0000 sts (cnt.15)+1,r19 |
| 6959 3bd8 2093 0000 sts cnt.15,r18 |
| 6960 .L526: |
| 6961 3bdc 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 6962 3be0 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 6963 3be4 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 6964 3be8 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 6965 3bec 4138 cpi r20,lo8(129) |
| 6966 3bee 5105 cpc r21,__zero_reg__ |
| 6967 3bf0 6105 cpc r22,__zero_reg__ |
| 6968 3bf2 7105 cpc r23,__zero_reg__ |
| 6969 3bf4 74F0 brlt .L528 |
| 6970 3bf6 8091 0000 lds r24,AdNeutralRoll |
| 6971 3bfa 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 6972 3bfe 2091 0000 lds r18,cnt.15 |
| 6973 3c02 3091 0000 lds r19,(cnt.15)+1 |
| 6974 3c06 820F add r24,r18 |
| 6975 3c08 931F adc r25,r19 |
| 6976 3c0a 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 6977 3c0e 8093 0000 sts AdNeutralRoll,r24 |
| 6978 .L528: |
| 6979 3c12 4058 subi r20,lo8(-128) |
| 6980 3c14 5F4F sbci r21,hi8(-128) |
| 6981 3c16 6F4F sbci r22,hlo8(-128) |
| 6982 3c18 7F4F sbci r23,hhi8(-128) |
| 6983 3c1a CCF4 brge .L530 |
| 6984 3c1c 8091 0000 lds r24,AdNeutralRoll |
| 6985 3c20 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 6986 3c24 2091 0000 lds r18,cnt.15 |
| 6987 3c28 3091 0000 lds r19,(cnt.15)+1 |
| 6988 3c2c 821B sub r24,r18 |
| 6989 3c2e 930B sbc r25,r19 |
| 6990 3c30 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 6991 3c34 8093 0000 sts AdNeutralRoll,r24 |
| 6992 3c38 0AC0 rjmp .L530 |
| 6993 .L456: |
| 6994 3c3a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 6995 3c3e 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 6996 3c42 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 6997 3c46 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 6998 3c4a 1092 0000 sts TrichterFlug,__zero_reg__ |
| 6999 .L530: |
| 7000 3c4e 8091 0000 lds r24,IntegralFaktor |
| 7001 3c52 8823 tst r24 |
| 7002 3c54 41F4 brne .L531 |
| 7003 3c56 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7004 3c5a 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7005 3c5e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7006 3c62 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7007 .L531: |
| 7008 3c66 8091 0000 lds r24,MittelIntegralNick |
| 7009 3c6a 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7010 3c6e A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7011 3c72 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7012 3c76 8093 0000 sts MittelIntegralNick_Alt.20,r24 |
| 7013 3c7a 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r25 |
| 7014 3c7e A093 0000 sts (MittelIntegralNick_Alt.20)+2,r26 |
| 7015 3c82 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r27 |
| 7016 3c86 8091 0000 lds r24,MittelIntegralRoll |
| 7017 3c8a 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7018 3c8e A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7019 3c92 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7020 3c96 8093 0000 sts MittelIntegralRoll_Alt.21,r24 |
| 7021 3c9a 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r25 |
| 7022 3c9e A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r26 |
| 7023 3ca2 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r27 |
| 7024 3ca6 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7025 3caa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7026 3cae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7027 3cb2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7028 3cb6 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7029 3cba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7030 3cbe 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7031 3cc2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7032 3cc6 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7033 3cca 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7034 3cce 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7035 3cd2 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7036 3cd6 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7037 3cda 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7038 3cde 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7039 3ce2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7040 3ce6 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7041 3cea 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7042 3cee 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7043 3cf2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7044 3cf6 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7045 3cfa 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7046 3cfe 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7047 3d02 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7048 3d06 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7049 3d0a 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7050 3d0e 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7051 3d12 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7052 3d16 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7053 3d1a 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7054 .L455: |
| 7055 3d1e 0091 0000 lds r16,StickGier |
| 7056 3d22 1091 0000 lds r17,(StickGier)+1 |
| 7057 3d26 C801 movw r24,r16 |
| 7058 3d28 17FF sbrs r17,7 |
| 7059 3d2a 04C0 rjmp .L533 |
| 7060 3d2c 8827 clr r24 |
| 7061 3d2e 9927 clr r25 |
| 7062 3d30 801B sub r24,r16 |
| 7063 3d32 910B sbc r25,r17 |
| 7064 .L533: |
| 7065 3d34 4097 sbiw r24,16 |
| 7066 3d36 6CF0 brlt .L532 |
| 7067 3d38 88EE ldi r24,lo8(1000) |
| 7068 3d3a 93E0 ldi r25,hi8(1000) |
| 7069 3d3c 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7070 3d40 8093 0000 sts KompassSignalSchlecht,r24 |
| 7071 3d44 8091 0000 lds r24,EE_Parameter+13 |
| 7072 3d48 84FD sbrc r24,4 |
| 7073 3d4a 03C0 rjmp .L532 |
| 7074 3d4c 81E0 ldi r24,lo8(1) |
| 7075 3d4e 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
| 7076 .L532: |
| 7077 3d52 F090 0000 lds r15,EE_Parameter+25 |
| 7078 3d56 AF2C mov r10,r15 |
| 7079 3d58 BB24 clr r11 |
| 7080 3d5a CC24 clr r12 |
| 7081 3d5c DD24 clr r13 |
| 7082 3d5e B801 movw r22,r16 |
| 7083 3d60 8827 clr r24 |
| 7084 3d62 77FD sbrc r23,7 |
| 7085 3d64 8095 com r24 |
| 7086 3d66 982F mov r25,r24 |
| 7087 3d68 9801 movw r18,r16 |
| 7088 3d6a 17FF sbrs r17,7 |
| 7089 3d6c 04C0 rjmp .L535 |
| 7090 3d6e 2227 clr r18 |
| 7091 3d70 3327 clr r19 |
| 7092 3d72 201B sub r18,r16 |
| 7093 3d74 310B sbc r19,r17 |
| 7094 .L535: |
| 7095 3d76 4427 clr r20 |
| 7096 3d78 37FD sbrc r19,7 |
| 7097 3d7a 4095 com r20 |
| 7098 3d7c 542F mov r21,r20 |
| 7099 3d7e 0E94 0000 call __mulsi3 |
| 7100 3d82 9B01 movw r18,r22 |
| 7101 3d84 AC01 movw r20,r24 |
| 7102 3d86 C601 movw r24,r12 |
| 7103 3d88 B501 movw r22,r10 |
| 7104 3d8a 0E94 0000 call __mulsi3 |
| 7105 3d8e 97FF sbrs r25,7 |
| 7106 3d90 04C0 rjmp .L536 |
| 7107 3d92 6150 subi r22,lo8(-(511)) |
| 7108 3d94 7E4F sbci r23,hi8(-(511)) |
| 7109 3d96 8F4F sbci r24,hlo8(-(511)) |
| 7110 3d98 9F4F sbci r25,hhi8(-(511)) |
| 7111 .L536: |
| 7112 3d9a F9E0 ldi r31,9 |
| 7113 3d9c 9595 1: asr r25 |
| 7114 3d9e 8795 ror r24 |
| 7115 3da0 7795 ror r23 |
| 7116 3da2 6795 ror r22 |
| 7117 3da4 FA95 dec r31 |
| 7118 3da6 D1F7 brne 1b |
| 7119 3da8 9B01 movw r18,r22 |
| 7120 3daa 8F2D mov r24,r15 |
| 7121 3dac 9927 clr r25 |
| 7122 3dae 809F mul r24,r16 |
| 7123 3db0 D001 movw r26,r0 |
| 7124 3db2 819F mul r24,r17 |
| 7125 3db4 B00D add r27,r0 |
| 7126 3db6 909F mul r25,r16 |
| 7127 3db8 B00D add r27,r0 |
| 7128 3dba 1124 clr r1 |
| 7129 3dbc CD01 movw r24,r26 |
| 7130 3dbe B7FD sbrc r27,7 |
| 7131 3dc0 0396 adiw r24,3 |
| 7132 .L537: |
| 7133 3dc2 9595 asr r25 |
| 7134 3dc4 8795 ror r24 |
| 7135 3dc6 9595 asr r25 |
| 7136 3dc8 8795 ror r24 |
| 7137 3dca 280F add r18,r24 |
| 7138 3dcc 391F adc r19,r25 |
| 7139 3dce 4427 clr r20 |
| 7140 3dd0 37FD sbrc r19,7 |
| 7141 3dd2 4095 com r20 |
| 7142 3dd4 542F mov r21,r20 |
| 7143 3dd6 2093 0000 sts sollGier.0,r18 |
| 7144 3dda 3093 0000 sts (sollGier.0)+1,r19 |
| 7145 3dde 4093 0000 sts (sollGier.0)+2,r20 |
| 7146 3de2 5093 0000 sts (sollGier.0)+3,r21 |
| 7147 3de6 8091 0000 lds r24,Mess_Integral_Gier |
| 7148 3dea 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7149 3dee A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7150 3df2 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7151 3df6 821B sub r24,r18 |
| 7152 3df8 930B sbc r25,r19 |
| 7153 3dfa A40B sbc r26,r20 |
| 7154 3dfc B50B sbc r27,r21 |
| 7155 3dfe 8093 0000 sts Mess_Integral_Gier,r24 |
| 7156 3e02 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7157 3e06 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7158 3e0a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7159 3e0e 8155 subi r24,lo8(50001) |
| 7160 3e10 934C sbci r25,hi8(50001) |
| 7161 3e12 A040 sbci r26,hlo8(50001) |
| 7162 3e14 B040 sbci r27,hhi8(50001) |
| 7163 3e16 64F0 brlt .L538 |
| 7164 3e18 80E5 ldi r24,lo8(50000) |
| 7165 3e1a 93EC ldi r25,hi8(50000) |
| 7166 3e1c A0E0 ldi r26,hlo8(50000) |
| 7167 3e1e B0E0 ldi r27,hhi8(50000) |
| 7168 3e20 8093 0000 sts Mess_Integral_Gier,r24 |
| 7169 3e24 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7170 3e28 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7171 3e2c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7172 .L538: |
| 7173 3e30 8091 0000 lds r24,Mess_Integral_Gier |
| 7174 3e34 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7175 3e38 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7176 3e3c B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7177 3e40 805B subi r24,lo8(-50000) |
| 7178 3e42 9C43 sbci r25,hi8(-50000) |
| 7179 3e44 AF4F sbci r26,hlo8(-50000) |
| 7180 3e46 BF4F sbci r27,hhi8(-50000) |
| 7181 3e48 64F4 brge .L539 |
| 7182 3e4a 80EB ldi r24,lo8(-50000) |
| 7183 3e4c 9CE3 ldi r25,hi8(-50000) |
| 7184 3e4e AFEF ldi r26,hlo8(-50000) |
| 7185 3e50 BFEF ldi r27,hhi8(-50000) |
| 7186 3e52 8093 0000 sts Mess_Integral_Gier,r24 |
| 7187 3e56 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7188 3e5a A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7189 3e5e B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7190 .L539: |
| 7191 3e62 A090 0000 lds r10,KompassValue |
| 7192 3e66 B090 0000 lds r11,(KompassValue)+1 |
| 7193 3e6a A114 cp r10,__zero_reg__ |
| 7194 3e6c B104 cpc r11,__zero_reg__ |
| 7195 3e6e 09F4 brne .+2 |
| 7196 3e70 78C1 rjmp .L540 |
| 7197 3e72 8091 0000 lds r24,EE_Parameter+13 |
| 7198 3e76 83FF sbrs r24,3 |
| 7199 3e78 74C1 rjmp .L540 |
| 7200 3e7a 8091 0000 lds r24,IntegralNick |
| 7201 3e7e 9091 0000 lds r25,(IntegralNick)+1 |
| 7202 3e82 A091 0000 lds r26,(IntegralNick)+2 |
| 7203 3e86 B091 0000 lds r27,(IntegralNick)+3 |
| 7204 3e8a B7FF sbrs r27,7 |
| 7205 3e8c 04C0 rjmp .L541 |
| 7206 3e8e 8150 subi r24,lo8(-(511)) |
| 7207 3e90 9E4F sbci r25,hi8(-(511)) |
| 7208 3e92 AF4F sbci r26,hlo8(-(511)) |
| 7209 3e94 BF4F sbci r27,hhi8(-(511)) |
| 7210 .L541: |
| 7211 3e96 79E0 ldi r23,9 |
| 7212 3e98 B595 1: asr r27 |
| 7213 3e9a A795 ror r26 |
| 7214 3e9c 9795 ror r25 |
| 7215 3e9e 8795 ror r24 |
| 7216 3ea0 7A95 dec r23 |
| 7217 3ea2 D1F7 brne 1b |
| 7218 3ea4 6C01 movw r12,r24 |
| 7219 3ea6 97FF sbrs r25,7 |
| 7220 3ea8 04C0 rjmp .L542 |
| 7221 3eaa D094 com r13 |
| 7222 3eac C194 neg r12 |
| 7223 3eae D108 sbc r13,__zero_reg__ |
| 7224 3eb0 D394 inc r13 |
| 7225 .L542: |
| 7226 3eb2 8091 0000 lds r24,IntegralRoll |
| 7227 3eb6 9091 0000 lds r25,(IntegralRoll)+1 |
| 7228 3eba A091 0000 lds r26,(IntegralRoll)+2 |
| 7229 3ebe B091 0000 lds r27,(IntegralRoll)+3 |
| 7230 3ec2 B7FF sbrs r27,7 |
| 7231 3ec4 04C0 rjmp .L543 |
| 7232 3ec6 8150 subi r24,lo8(-(511)) |
| 7233 3ec8 9E4F sbci r25,hi8(-(511)) |
| 7234 3eca AF4F sbci r26,hlo8(-(511)) |
| 7235 3ecc BF4F sbci r27,hhi8(-(511)) |
| 7236 .L543: |
| 7237 3ece 69E0 ldi r22,9 |
| 7238 3ed0 B595 1: asr r27 |
| 7239 3ed2 A795 ror r26 |
| 7240 3ed4 9795 ror r25 |
| 7241 3ed6 8795 ror r24 |
| 7242 3ed8 6A95 dec r22 |
| 7243 3eda D1F7 brne 1b |
| 7244 3edc BC01 movw r22,r24 |
| 7245 3ede 97FF sbrs r25,7 |
| 7246 3ee0 03C0 rjmp .L544 |
| 7247 3ee2 7095 com r23 |
| 7248 3ee4 6195 neg r22 |
| 7249 3ee6 7F4F sbci r23,lo8(-1) |
| 7250 .L544: |
| 7251 3ee8 C616 cp r12,r22 |
| 7252 3eea D706 cpc r13,r23 |
| 7253 3eec 0CF4 brge .L545 |
| 7254 3eee 6B01 movw r12,r22 |
| 7255 .L545: |
| 7256 3ef0 B601 movw r22,r12 |
| 7257 3ef2 D7FE sbrs r13,7 |
| 7258 3ef4 02C0 rjmp .L546 |
| 7259 3ef6 695F subi r22,lo8(-(7)) |
| 7260 3ef8 7F4F sbci r23,hi8(-(7)) |
| 7261 .L546: |
| 7262 3efa 2B01 movw r4,r22 |
| 7263 3efc 53E0 ldi r21,3 |
| 7264 3efe 5594 1: asr r5 |
| 7265 3f00 4794 ror r4 |
| 7266 3f02 5A95 dec r21 |
| 7267 3f04 E1F7 brne 1b |
| 7268 3f06 42E0 ldi r20,lo8(2) |
| 7269 3f08 E42E mov r14,r20 |
| 7270 3f0a F12C mov r15,__zero_reg__ |
| 7271 3f0c 4E0C add r4,r14 |
| 7272 3f0e 5F1C adc r5,r15 |
| 7273 3f10 0CE1 ldi r16,lo8(540) |
| 7274 3f12 12E0 ldi r17,hi8(540) |
| 7275 3f14 A00E add r10,r16 |
| 7276 3f16 B11E adc r11,r17 |
| 7277 3f18 7501 movw r14,r10 |
| 7278 3f1a 0027 clr r16 |
| 7279 3f1c F7FC sbrc r15,7 |
| 7280 3f1e 0095 com r16 |
| 7281 3f20 102F mov r17,r16 |
| 7282 3f22 24EE ldi r18,lo8(-540) |
| 7283 3f24 3DEF ldi r19,hi8(-540) |
| 7284 3f26 A20E add r10,r18 |
| 7285 3f28 B31E adc r11,r19 |
| 7286 3f2a 8091 0000 lds r24,ErsatzKompass |
| 7287 3f2e 9091 0000 lds r25,(ErsatzKompass)+1 |
| 7288 3f32 A091 0000 lds r26,(ErsatzKompass)+2 |
| 7289 3f36 B091 0000 lds r27,(ErsatzKompass)+3 |
| 7290 3f3a 6090 0000 lds r6,GIER_GRAD_FAKTOR |
| 7291 3f3e 7090 0000 lds r7,(GIER_GRAD_FAKTOR)+1 |
| 7292 3f42 8090 0000 lds r8,(GIER_GRAD_FAKTOR)+2 |
| 7293 3f46 9090 0000 lds r9,(GIER_GRAD_FAKTOR)+3 |
| 7294 3f4a BC01 movw r22,r24 |
| 7295 3f4c CD01 movw r24,r26 |
| 7296 3f4e A401 movw r20,r8 |
| 7297 3f50 9301 movw r18,r6 |
| 7298 3f52 0E94 0000 call __divmodsi4 |
| 7299 3f56 E21A sub r14,r18 |
| 7300 3f58 F30A sbc r15,r19 |
| 7301 3f5a 040B sbc r16,r20 |
| 7302 3f5c 150B sbc r17,r21 |
| 7303 3f5e C801 movw r24,r16 |
| 7304 3f60 B701 movw r22,r14 |
| 7305 3f62 28E6 ldi r18,lo8(360) |
| 7306 3f64 31E0 ldi r19,hi8(360) |
| 7307 3f66 40E0 ldi r20,hlo8(360) |
| 7308 3f68 50E0 ldi r21,hhi8(360) |
| 7309 3f6a 0E94 0000 call __divmodsi4 |
| 7310 3f6e DC01 movw r26,r24 |
| 7311 3f70 CB01 movw r24,r22 |
| 7312 3f72 3CE4 ldi r19,lo8(-180) |
| 7313 3f74 E32E mov r14,r19 |
| 7314 3f76 3FEF ldi r19,hi8(-180) |
| 7315 3f78 F32E mov r15,r19 |
| 7316 3f7a E80E add r14,r24 |
| 7317 3f7c F91E adc r15,r25 |
| 7318 3f7e 0091 0000 lds r16,KompassSignalSchlecht |
| 7319 3f82 1091 0000 lds r17,(KompassSignalSchlecht)+1 |
| 7320 3f86 0115 cp r16,__zero_reg__ |
| 7321 3f88 1105 cpc r17,__zero_reg__ |
| 7322 3f8a 89F5 brne .L547 |
| 7323 3f8c 39E1 ldi r19,lo8(25) |
| 7324 3f8e C316 cp r12,r19 |
| 7325 3f90 D104 cpc r13,__zero_reg__ |
| 7326 3f92 6CF5 brge .L547 |
| 7327 3f94 8091 0000 lds r24,GierGyroFehler |
| 7328 3f98 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7329 3f9c 8E0D add r24,r14 |
| 7330 3f9e 9F1D adc r25,r15 |
| 7331 3fa0 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7332 3fa4 8093 0000 sts GierGyroFehler,r24 |
| 7333 3fa8 8091 0000 lds r24,NeueKompassRichtungMerken.10 |
| 7334 3fac 8823 tst r24 |
| 7335 3fae F9F0 breq .L547 |
| 7336 3fb0 C501 movw r24,r10 |
| 7337 3fb2 AA27 clr r26 |
| 7338 3fb4 97FD sbrc r25,7 |
| 7339 3fb6 A095 com r26 |
| 7340 3fb8 BA2F mov r27,r26 |
| 7341 3fba BC01 movw r22,r24 |
| 7342 3fbc CD01 movw r24,r26 |
| 7343 3fbe A401 movw r20,r8 |
| 7344 3fc0 9301 movw r18,r6 |
| 7345 3fc2 0E94 0000 call __mulsi3 |
| 7346 3fc6 DC01 movw r26,r24 |
| 7347 3fc8 CB01 movw r24,r22 |
| 7348 3fca 8093 0000 sts ErsatzKompass,r24 |
| 7349 3fce 9093 0000 sts (ErsatzKompass)+1,r25 |
| 7350 3fd2 A093 0000 sts (ErsatzKompass)+2,r26 |
| 7351 3fd6 B093 0000 sts (ErsatzKompass)+3,r27 |
| 7352 3fda BC01 movw r22,r24 |
| 7353 3fdc CD01 movw r24,r26 |
| 7354 3fde 0E94 0000 call __divmodsi4 |
| 7355 3fe2 3093 0000 sts (KompassStartwert)+1,r19 |
| 7356 3fe6 2093 0000 sts KompassStartwert,r18 |
| 7357 3fea 1092 0000 sts NeueKompassRichtungMerken.10,__zero_reg__ |
| 7358 .L547: |
| 7359 3fee C701 movw r24,r14 |
| 7360 3ff0 24E0 ldi r18,4 |
| 7361 3ff2 880F 1: lsl r24 |
| 7362 3ff4 991F rol r25 |
| 7363 3ff6 2A95 dec r18 |
| 7364 3ff8 E1F7 brne 1b |
| 7365 3ffa B201 movw r22,r4 |
| 7366 3ffc 0E94 0000 call __divmodhi4 |
| 7367 4000 CB01 movw r24,r22 |
| 7368 4002 AA27 clr r26 |
| 7369 4004 97FD sbrc r25,7 |
| 7370 4006 A095 com r26 |
| 7371 4008 BA2F mov r27,r26 |
| 7372 400a 2091 0000 lds r18,ErsatzKompass |
| 7373 400e 3091 0000 lds r19,(ErsatzKompass)+1 |
| 7374 4012 4091 0000 lds r20,(ErsatzKompass)+2 |
| 7375 4016 5091 0000 lds r21,(ErsatzKompass)+3 |
| 7376 401a 280F add r18,r24 |
| 7377 401c 391F adc r19,r25 |
| 7378 401e 4A1F adc r20,r26 |
| 7379 4020 5B1F adc r21,r27 |
| 7380 4022 2093 0000 sts ErsatzKompass,r18 |
| 7381 4026 3093 0000 sts (ErsatzKompass)+1,r19 |
| 7382 402a 4093 0000 sts (ErsatzKompass)+2,r20 |
| 7383 402e 5093 0000 sts (ErsatzKompass)+3,r21 |
| 7384 4032 F090 0000 lds r15,Parameter_KompassWirkung |
| 7385 4036 6F2D mov r22,r15 |
| 7386 4038 7727 clr r23 |
| 7387 403a C69E mul r12,r22 |
| 7388 403c C001 movw r24,r0 |
| 7389 403e C79E mul r12,r23 |
| 7390 4040 900D add r25,r0 |
| 7391 4042 D69E mul r13,r22 |
| 7392 4044 900D add r25,r0 |
| 7393 4046 1124 clr r1 |
| 7394 4048 97FD sbrc r25,7 |
| 7395 404a 4F96 adiw r24,31 |
| 7396 .L549: |
| 7397 404c 6C01 movw r12,r24 |
| 7398 404e 95E0 ldi r25,5 |
| 7399 4050 D594 1: asr r13 |
| 7400 4052 C794 ror r12 |
| 7401 4054 9A95 dec r25 |
| 7402 4056 E1F7 brne 1b |
| 7403 4058 6C19 sub r22,r12 |
| 7404 405a 7D09 sbc r23,r13 |
| 7405 405c 6B01 movw r12,r22 |
| 7406 405e 77FD sbrc r23,7 |
| 7407 4060 7AC0 rjmp .L550 |
| 7408 4062 0115 cp r16,__zero_reg__ |
| 7409 4064 1105 cpc r17,__zero_reg__ |
| 7410 4066 09F0 breq .+2 |
| 7411 4068 6FC0 rjmp .L776 |
| 7412 406a 0091 0000 lds r16,MaxStickNick |
| 7413 406e 1091 0000 lds r17,(MaxStickNick)+1 |
| 7414 4072 8091 0000 lds r24,MaxStickRoll |
| 7415 4076 9091 0000 lds r25,(MaxStickRoll)+1 |
| 7416 407a 080F add r16,r24 |
| 7417 407c 191F adc r17,r25 |
| 7418 407e 17FF sbrs r17,7 |
| 7419 4080 02C0 rjmp .L552 |
| 7420 4082 095F subi r16,lo8(-(7)) |
| 7421 4084 1F4F sbci r17,hi8(-(7)) |
| 7422 .L552: |
| 7423 4086 83E0 ldi r24,3 |
| 7424 4088 1595 1: asr r17 |
| 7425 408a 0795 ror r16 |
| 7426 408c 8A95 dec r24 |
| 7427 408e E1F7 brne 1b |
| 7428 4090 005C subi r16,lo8(-(64)) |
| 7429 4092 1F4F sbci r17,hi8(-(64)) |
| 7430 4094 CA01 movw r24,r20 |
| 7431 4096 B901 movw r22,r18 |
| 7432 4098 A401 movw r20,r8 |
| 7433 409a 9301 movw r18,r6 |
| 7434 409c 0E94 0000 call __divmodsi4 |
| 7435 40a0 DA01 movw r26,r20 |
| 7436 40a2 C901 movw r24,r18 |
| 7437 40a4 2091 0000 lds r18,KompassStartwert |
| 7438 40a8 3091 0000 lds r19,(KompassStartwert)+1 |
| 7439 40ac 4427 clr r20 |
| 7440 40ae 37FD sbrc r19,7 |
| 7441 40b0 4095 com r20 |
| 7442 40b2 542F mov r21,r20 |
| 7443 40b4 821B sub r24,r18 |
| 7444 40b6 930B sbc r25,r19 |
| 7445 40b8 A40B sbc r26,r20 |
| 7446 40ba B50B sbc r27,r21 |
| 7447 40bc 845E subi r24,lo8(-(540)) |
| 7448 40be 9D4F sbci r25,hi8(-(540)) |
| 7449 40c0 AF4F sbci r26,hlo8(-(540)) |
| 7450 40c2 BF4F sbci r27,hhi8(-(540)) |
| 7451 40c4 BC01 movw r22,r24 |
| 7452 40c6 CD01 movw r24,r26 |
| 7453 40c8 28E6 ldi r18,lo8(360) |
| 7454 40ca 31E0 ldi r19,hi8(360) |
| 7455 40cc 40E0 ldi r20,hlo8(360) |
| 7456 40ce 50E0 ldi r21,hhi8(360) |
| 7457 40d0 0E94 0000 call __divmodsi4 |
| 7458 40d4 DC01 movw r26,r24 |
| 7459 40d6 CB01 movw r24,r22 |
| 7460 40d8 845B subi r24,lo8(-(-180)) |
| 7461 40da 9040 sbci r25,hi8(-(-180)) |
| 7462 40dc 8C9D mul r24,r12 |
| 7463 40de A001 movw r20,r0 |
| 7464 40e0 8D9D mul r24,r13 |
| 7465 40e2 500D add r21,r0 |
| 7466 40e4 9C9D mul r25,r12 |
| 7467 40e6 500D add r21,r0 |
| 7468 40e8 1124 clr r1 |
| 7469 40ea CA01 movw r24,r20 |
| 7470 40ec B801 movw r22,r16 |
| 7471 40ee 0E94 0000 call __divmodhi4 |
| 7472 40f2 83E0 ldi r24,lo8(3) |
| 7473 40f4 F89E mul r15,r24 |
| 7474 40f6 6001 movw r12,r0 |
| 7475 40f8 1124 clr r1 |
| 7476 40fa C616 cp r12,r22 |
| 7477 40fc D706 cpc r13,r23 |
| 7478 40fe 14F4 brge .L553 |
| 7479 4100 B601 movw r22,r12 |
| 7480 4102 08C0 rjmp .L554 |
| 7481 .L553: |
| 7482 4104 8827 clr r24 |
| 7483 4106 9927 clr r25 |
| 7484 4108 8C19 sub r24,r12 |
| 7485 410a 9D09 sbc r25,r13 |
| 7486 410c 6817 cp r22,r24 |
| 7487 410e 7907 cpc r23,r25 |
| 7488 4110 0CF4 brge .L554 |
| 7489 4112 BC01 movw r22,r24 |
| 7490 .L554: |
| 7491 4114 9B01 movw r18,r22 |
| 7492 4116 4427 clr r20 |
| 7493 4118 37FD sbrc r19,7 |
| 7494 411a 4095 com r20 |
| 7495 411c 542F mov r21,r20 |
| 7496 411e 8091 0000 lds r24,Mess_Integral_Gier |
| 7497 4122 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7498 4126 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7499 412a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7500 412e 820F add r24,r18 |
| 7501 4130 931F adc r25,r19 |
| 7502 4132 A41F adc r26,r20 |
| 7503 4134 B51F adc r27,r21 |
| 7504 4136 8093 0000 sts Mess_Integral_Gier,r24 |
| 7505 413a 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7506 413e A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7507 4142 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7508 4146 0DC0 rjmp .L540 |
| 7509 .L776: |
| 7510 4148 0150 subi r16,lo8(-(-1)) |
| 7511 414a 1040 sbci r17,hi8(-(-1)) |
| 7512 414c 1093 0000 sts (KompassSignalSchlecht)+1,r17 |
| 7513 4150 0093 0000 sts KompassSignalSchlecht,r16 |
| 7514 4154 06C0 rjmp .L540 |
| 7515 .L550: |
| 7516 4156 84EF ldi r24,lo8(500) |
| 7517 4158 91E0 ldi r25,hi8(500) |
| 7518 415a 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7519 415e 8093 0000 sts KompassSignalSchlecht,r24 |
| 7520 .L540: |
| 7521 4162 8091 0000 lds r24,TrichterFlug |
| 7522 4166 8823 tst r24 |
| 7523 4168 81F0 breq .L558 |
| 7524 416a 1092 0000 sts SummeRoll,__zero_reg__ |
| 7525 416e 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7526 4172 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7527 4176 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7528 417a 1092 0000 sts SummeNick,__zero_reg__ |
| 7529 417e 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7530 4182 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7531 4186 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7532 .L558: |
| 7533 418a 7090 0000 lds r7,Looping_Nick |
| 7534 418e 7720 tst r7 |
| 7535 4190 F1F4 brne .L559 |
| 7536 4192 8091 0000 lds r24,IntegralFaktor |
| 7537 4196 282F mov r18,r24 |
| 7538 4198 3327 clr r19 |
| 7539 419a 4427 clr r20 |
| 7540 419c 5527 clr r21 |
| 7541 419e 8091 0000 lds r24,IntegralNick |
| 7542 41a2 9091 0000 lds r25,(IntegralNick)+1 |
| 7543 41a6 A091 0000 lds r26,(IntegralNick)+2 |
| 7544 41aa B091 0000 lds r27,(IntegralNick)+3 |
| 7545 41ae BC01 movw r22,r24 |
| 7546 41b0 CD01 movw r24,r26 |
| 7547 41b2 0E94 0000 call __mulsi3 |
| 7548 41b6 DC01 movw r26,r24 |
| 7549 41b8 CB01 movw r24,r22 |
| 7550 41ba BC01 movw r22,r24 |
| 7551 41bc CD01 movw r24,r26 |
| 7552 41be 28EF ldi r18,lo8(11000) |
| 7553 41c0 3AE2 ldi r19,hi8(11000) |
| 7554 41c2 40E0 ldi r20,hlo8(11000) |
| 7555 41c4 50E0 ldi r21,hhi8(11000) |
| 7556 41c6 0E94 0000 call __divmodsi4 |
| 7557 41ca 2901 movw r4,r18 |
| 7558 41cc 02C0 rjmp .L560 |
| 7559 .L559: |
| 7560 41ce 4424 clr r4 |
| 7561 41d0 5524 clr r5 |
| 7562 .L560: |
| 7563 41d2 9090 0000 lds r9,Looping_Roll |
| 7564 41d6 9920 tst r9 |
| 7565 41d8 F1F4 brne .L561 |
| 7566 41da 8091 0000 lds r24,IntegralFaktor |
| 7567 41de 282F mov r18,r24 |
| 7568 41e0 3327 clr r19 |
| 7569 41e2 4427 clr r20 |
| 7570 41e4 5527 clr r21 |
| 7571 41e6 8091 0000 lds r24,IntegralRoll |
| 7572 41ea 9091 0000 lds r25,(IntegralRoll)+1 |
| 7573 41ee A091 0000 lds r26,(IntegralRoll)+2 |
| 7574 41f2 B091 0000 lds r27,(IntegralRoll)+3 |
| 7575 41f6 BC01 movw r22,r24 |
| 7576 41f8 CD01 movw r24,r26 |
| 7577 41fa 0E94 0000 call __mulsi3 |
| 7578 41fe DC01 movw r26,r24 |
| 7579 4200 CB01 movw r24,r22 |
| 7580 4202 BC01 movw r22,r24 |
| 7581 4204 CD01 movw r24,r26 |
| 7582 4206 28EF ldi r18,lo8(11000) |
| 7583 4208 3AE2 ldi r19,hi8(11000) |
| 7584 420a 40E0 ldi r20,hlo8(11000) |
| 7585 420c 50E0 ldi r21,hhi8(11000) |
| 7586 420e 0E94 0000 call __divmodsi4 |
| 7587 4212 1901 movw r2,r18 |
| 7588 4214 02C0 rjmp .L562 |
| 7589 .L561: |
| 7590 4216 2224 clr r2 |
| 7591 4218 3324 clr r3 |
| 7592 .L562: |
| 7593 421a 8091 0000 lds r24,TrimNick |
| 7594 421e 9091 0000 lds r25,(TrimNick)+1 |
| 7595 4222 893C cpi r24,201 |
| 7596 4224 9105 cpc r25,__zero_reg__ |
| 7597 4226 1CF0 brlt .L563 |
| 7598 4228 88EC ldi r24,lo8(200) |
| 7599 422a 90E0 ldi r25,hi8(200) |
| 7600 422c 05C0 rjmp .L781 |
| 7601 .L563: |
| 7602 422e 8853 subi r24,lo8(-200) |
| 7603 4230 9F4F sbci r25,hi8(-200) |
| 7604 4232 34F4 brge .L564 |
| 7605 4234 88E3 ldi r24,lo8(-200) |
| 7606 4236 9FEF ldi r25,hi8(-200) |
| 7607 .L781: |
| 7608 4238 9093 0000 sts (TrimNick)+1,r25 |
| 7609 423c 8093 0000 sts TrimNick,r24 |
| 7610 .L564: |
| 7611 4240 8091 0000 lds r24,TrimRoll |
| 7612 4244 9091 0000 lds r25,(TrimRoll)+1 |
| 7613 4248 893C cpi r24,201 |
| 7614 424a 9105 cpc r25,__zero_reg__ |
| 7615 424c 1CF0 brlt .L566 |
| 7616 424e 88EC ldi r24,lo8(200) |
| 7617 4250 90E0 ldi r25,hi8(200) |
| 7618 4252 05C0 rjmp .L782 |
| 7619 .L566: |
| 7620 4254 8853 subi r24,lo8(-200) |
| 7621 4256 9F4F sbci r25,hi8(-200) |
| 7622 4258 34F4 brge .L567 |
| 7623 425a 88E3 ldi r24,lo8(-200) |
| 7624 425c 9FEF ldi r25,hi8(-200) |
| 7625 .L782: |
| 7626 425e 9093 0000 sts (TrimRoll)+1,r25 |
| 7627 4262 8093 0000 sts TrimRoll,r24 |
| 7628 .L567: |
| 7629 4266 8091 0000 lds r24,MesswertNick |
| 7630 426a 9091 0000 lds r25,(MesswertNick)+1 |
| 7631 426e AA27 clr r26 |
| 7632 4270 97FD sbrc r25,7 |
| 7633 4272 A095 com r26 |
| 7634 4274 BA2F mov r27,r26 |
| 7635 4276 2091 0000 lds r18,GyroFaktor |
| 7636 427a A22E mov r10,r18 |
| 7637 427c BB24 clr r11 |
| 7638 427e CC24 clr r12 |
| 7639 4280 DD24 clr r13 |
| 7640 4282 BC01 movw r22,r24 |
| 7641 4284 CD01 movw r24,r26 |
| 7642 4286 A601 movw r20,r12 |
| 7643 4288 9501 movw r18,r10 |
| 7644 428a 0E94 0000 call __mulsi3 |
| 7645 428e 9B01 movw r18,r22 |
| 7646 4290 AC01 movw r20,r24 |
| 7647 4292 8091 0000 lds r24,TrimNick |
| 7648 4296 9091 0000 lds r25,(TrimNick)+1 |
| 7649 429a AA27 clr r26 |
| 7650 429c 97FD sbrc r25,7 |
| 7651 429e A095 com r26 |
| 7652 42a0 BA2F mov r27,r26 |
| 7653 42a2 17E0 ldi r17,7 |
| 7654 42a4 880F 1: lsl r24 |
| 7655 42a6 991F rol r25 |
| 7656 42a8 AA1F rol r26 |
| 7657 42aa BB1F rol r27 |
| 7658 42ac 1A95 dec r17 |
| 7659 42ae D1F7 brne 1b |
| 7660 42b0 280F add r18,r24 |
| 7661 42b2 391F adc r19,r25 |
| 7662 42b4 4A1F adc r20,r26 |
| 7663 42b6 5B1F adc r21,r27 |
| 7664 42b8 57FF sbrs r21,7 |
| 7665 42ba 04C0 rjmp .L569 |
| 7666 42bc 215C subi r18,lo8(-(63)) |
| 7667 42be 3F4F sbci r19,hi8(-(63)) |
| 7668 42c0 4F4F sbci r20,hlo8(-(63)) |
| 7669 42c2 5F4F sbci r21,hhi8(-(63)) |
| 7670 .L569: |
| 7671 42c4 A6E0 ldi r26,6 |
| 7672 42c6 5595 1: asr r21 |
| 7673 42c8 4795 ror r20 |
| 7674 42ca 3795 ror r19 |
| 7675 42cc 2795 ror r18 |
| 7676 42ce AA95 dec r26 |
| 7677 42d0 D1F7 brne 1b |
| 7678 42d2 7201 movw r14,r4 |
| 7679 42d4 E20E add r14,r18 |
| 7680 42d6 F31E adc r15,r19 |
| 7681 42d8 F092 0000 sts (MesswertNick)+1,r15 |
| 7682 42dc E092 0000 sts MesswertNick,r14 |
| 7683 42e0 8091 0000 lds r24,MesswertRoll |
| 7684 42e4 9091 0000 lds r25,(MesswertRoll)+1 |
| 7685 42e8 AA27 clr r26 |
| 7686 42ea 97FD sbrc r25,7 |
| 7687 42ec A095 com r26 |
| 7688 42ee BA2F mov r27,r26 |
| 7689 42f0 BC01 movw r22,r24 |
| 7690 42f2 CD01 movw r24,r26 |
| 7691 42f4 A601 movw r20,r12 |
| 7692 42f6 9501 movw r18,r10 |
| 7693 42f8 0E94 0000 call __mulsi3 |
| 7694 42fc 9B01 movw r18,r22 |
| 7695 42fe AC01 movw r20,r24 |
| 7696 4300 8091 0000 lds r24,TrimRoll |
| 7697 4304 9091 0000 lds r25,(TrimRoll)+1 |
| 7698 4308 AA27 clr r26 |
| 7699 430a 97FD sbrc r25,7 |
| 7700 430c A095 com r26 |
| 7701 430e BA2F mov r27,r26 |
| 7702 4310 F7E0 ldi r31,7 |
| 7703 4312 880F 1: lsl r24 |
| 7704 4314 991F rol r25 |
| 7705 4316 AA1F rol r26 |
| 7706 4318 BB1F rol r27 |
| 7707 431a FA95 dec r31 |
| 7708 431c D1F7 brne 1b |
| 7709 431e 280F add r18,r24 |
| 7710 4320 391F adc r19,r25 |
| 7711 4322 4A1F adc r20,r26 |
| 7712 4324 5B1F adc r21,r27 |
| 7713 4326 57FF sbrs r21,7 |
| 7714 4328 04C0 rjmp .L570 |
| 7715 432a 215C subi r18,lo8(-(63)) |
| 7716 432c 3F4F sbci r19,hi8(-(63)) |
| 7717 432e 4F4F sbci r20,hlo8(-(63)) |
| 7718 4330 5F4F sbci r21,hhi8(-(63)) |
| 7719 .L570: |
| 7720 4332 E6E0 ldi r30,6 |
| 7721 4334 5595 1: asr r21 |
| 7722 4336 4795 ror r20 |
| 7723 4338 3795 ror r19 |
| 7724 433a 2795 ror r18 |
| 7725 433c EA95 dec r30 |
| 7726 433e D1F7 brne 1b |
| 7727 4340 8101 movw r16,r2 |
| 7728 4342 020F add r16,r18 |
| 7729 4344 131F adc r17,r19 |
| 7730 4346 1093 0000 sts (MesswertRoll)+1,r17 |
| 7731 434a 0093 0000 sts MesswertRoll,r16 |
| 7732 434e 8091 0000 lds r24,MesswertGier |
| 7733 4352 9091 0000 lds r25,(MesswertGier)+1 |
| 7734 4356 880F add r24,r24 |
| 7735 4358 991F adc r25,r25 |
| 7736 435a AA27 clr r26 |
| 7737 435c 97FD sbrc r25,7 |
| 7738 435e A095 com r26 |
| 7739 4360 BA2F mov r27,r26 |
| 7740 4362 2091 0000 lds r18,GyroFaktorGier |
| 7741 4366 3327 clr r19 |
| 7742 4368 4427 clr r20 |
| 7743 436a 5527 clr r21 |
| 7744 436c BC01 movw r22,r24 |
| 7745 436e CD01 movw r24,r26 |
| 7746 4370 0E94 0000 call __mulsi3 |
| 7747 4374 5B01 movw r10,r22 |
| 7748 4376 6C01 movw r12,r24 |
| 7749 4378 97FF sbrs r25,7 |
| 7750 437a 08C0 rjmp .L571 |
| 7751 437c 8FE3 ldi r24,lo8(63) |
| 7752 437e 90E0 ldi r25,hi8(63) |
| 7753 4380 A0E0 ldi r26,hlo8(63) |
| 7754 4382 B0E0 ldi r27,hhi8(63) |
| 7755 4384 A80E add r10,r24 |
| 7756 4386 B91E adc r11,r25 |
| 7757 4388 CA1E adc r12,r26 |
| 7758 438a DB1E adc r13,r27 |
| 7759 .L571: |
| 7760 438c 76E0 ldi r23,6 |
| 7761 438e D594 1: asr r13 |
| 7762 4390 C794 ror r12 |
| 7763 4392 B794 ror r11 |
| 7764 4394 A794 ror r10 |
| 7765 4396 7A95 dec r23 |
| 7766 4398 D1F7 brne 1b |
| 7767 439a 8091 0000 lds r24,IntegralFaktorGier |
| 7768 439e 282F mov r18,r24 |
| 7769 43a0 3327 clr r19 |
| 7770 43a2 4427 clr r20 |
| 7771 43a4 5527 clr r21 |
| 7772 43a6 8091 0000 lds r24,Integral_Gier |
| 7773 43aa 9091 0000 lds r25,(Integral_Gier)+1 |
| 7774 43ae A091 0000 lds r26,(Integral_Gier)+2 |
| 7775 43b2 B091 0000 lds r27,(Integral_Gier)+3 |
| 7776 43b6 BC01 movw r22,r24 |
| 7777 43b8 CD01 movw r24,r26 |
| 7778 43ba 0E94 0000 call __mulsi3 |
| 7779 43be DC01 movw r26,r24 |
| 7780 43c0 CB01 movw r24,r22 |
| 7781 43c2 BC01 movw r22,r24 |
| 7782 43c4 CD01 movw r24,r26 |
| 7783 43c6 20EF ldi r18,lo8(22000) |
| 7784 43c8 35E5 ldi r19,hi8(22000) |
| 7785 43ca 40E0 ldi r20,hlo8(22000) |
| 7786 43cc 50E0 ldi r21,hhi8(22000) |
| 7787 43ce 0E94 0000 call __divmodsi4 |
| 7788 43d2 B501 movw r22,r10 |
| 7789 43d4 620F add r22,r18 |
| 7790 43d6 731F adc r23,r19 |
| 7791 43d8 7093 0000 sts (MesswertGier)+1,r23 |
| 7792 43dc 6093 0000 sts MesswertGier,r22 |
| 7793 43e0 91E0 ldi r25,lo8(4097) |
| 7794 43e2 E916 cp r14,r25 |
| 7795 43e4 90E1 ldi r25,hi8(4097) |
| 7796 43e6 F906 cpc r15,r25 |
| 7797 43e8 34F0 brlt .L572 |
| 7798 43ea 80E0 ldi r24,lo8(4096) |
| 7799 43ec 90E1 ldi r25,hi8(4096) |
| 7800 43ee 9093 0000 sts (MesswertNick)+1,r25 |
| 7801 43f2 8093 0000 sts MesswertNick,r24 |
| 7802 .L572: |
| 7803 43f6 8091 0000 lds r24,MesswertNick |
| 7804 43fa 9091 0000 lds r25,(MesswertNick)+1 |
| 7805 43fe 8050 subi r24,lo8(-4096) |
| 7806 4400 904F sbci r25,hi8(-4096) |
| 7807 4402 34F4 brge .L573 |
| 7808 4404 80E0 ldi r24,lo8(-4096) |
| 7809 4406 90EF ldi r25,hi8(-4096) |
| 7810 4408 9093 0000 sts (MesswertNick)+1,r25 |
| 7811 440c 8093 0000 sts MesswertNick,r24 |
| 7812 .L573: |
| 7813 4410 0150 subi r16,lo8(4097) |
| 7814 4412 1041 sbci r17,hi8(4097) |
| 7815 4414 34F0 brlt .L574 |
| 7816 4416 80E0 ldi r24,lo8(4096) |
| 7817 4418 90E1 ldi r25,hi8(4096) |
| 7818 441a 9093 0000 sts (MesswertRoll)+1,r25 |
| 7819 441e 8093 0000 sts MesswertRoll,r24 |
| 7820 .L574: |
| 7821 4422 8091 0000 lds r24,MesswertRoll |
| 7822 4426 9091 0000 lds r25,(MesswertRoll)+1 |
| 7823 442a 8050 subi r24,lo8(-4096) |
| 7824 442c 904F sbci r25,hi8(-4096) |
| 7825 442e 34F4 brge .L575 |
| 7826 4430 80E0 ldi r24,lo8(-4096) |
| 7827 4432 90EF ldi r25,hi8(-4096) |
| 7828 4434 9093 0000 sts (MesswertRoll)+1,r25 |
| 7829 4438 8093 0000 sts MesswertRoll,r24 |
| 7830 .L575: |
| 7831 443c 6150 subi r22,lo8(4097) |
| 7832 443e 7041 sbci r23,hi8(4097) |
| 7833 4440 34F0 brlt .L576 |
| 7834 4442 80E0 ldi r24,lo8(4096) |
| 7835 4444 90E1 ldi r25,hi8(4096) |
| 7836 4446 9093 0000 sts (MesswertGier)+1,r25 |
| 7837 444a 8093 0000 sts MesswertGier,r24 |
| 7838 .L576: |
| 7839 444e 8091 0000 lds r24,MesswertGier |
| 7840 4452 9091 0000 lds r25,(MesswertGier)+1 |
| 7841 4456 8050 subi r24,lo8(-4096) |
| 7842 4458 904F sbci r25,hi8(-4096) |
| 7843 445a 34F4 brge .L577 |
| 7844 445c 80E0 ldi r24,lo8(-4096) |
| 7845 445e 90EF ldi r25,hi8(-4096) |
| 7846 4460 9093 0000 sts (MesswertGier)+1,r25 |
| 7847 4464 8093 0000 sts MesswertGier,r24 |
| 7848 .L577: |
| 7849 4468 8091 0000 lds r24,BattLowVoltageWarning |
| 7850 446c 482F mov r20,r24 |
| 7851 446e 5527 clr r21 |
| 7852 4470 8091 0000 lds r24,UBat |
| 7853 4474 9091 0000 lds r25,(UBat)+1 |
| 7854 4478 4817 cp r20,r24 |
| 7855 447a 5907 cpc r21,r25 |
| 7856 447c 94F4 brge .L578 |
| 7857 447e 2091 0000 lds r18,UBat |
| 7858 4482 3091 0000 lds r19,(UBat)+1 |
| 7859 4486 68A1 ldd r22,Y+32 |
| 7860 4488 79A1 ldd r23,Y+33 |
| 7861 448a 649F mul r22,r20 |
| 7862 448c C001 movw r24,r0 |
| 7863 448e 659F mul r22,r21 |
| 7864 4490 900D add r25,r0 |
| 7865 4492 749F mul r23,r20 |
| 7866 4494 900D add r25,r0 |
| 7867 4496 1124 clr r1 |
| 7868 4498 B901 movw r22,r18 |
| 7869 449a 0E94 0000 call __udivmodhi4 |
| 7870 449e 79A3 std Y+33,r23 |
| 7871 44a0 68A3 std Y+32,r22 |
| 7872 .L578: |
| 7873 44a2 88A1 ldd r24,Y+32 |
| 7874 44a4 99A1 ldd r25,Y+33 |
| 7875 44a6 880F lsl r24 |
| 7876 44a8 991F rol r25 |
| 7877 44aa 880F lsl r24 |
| 7878 44ac 991F rol r25 |
| 7879 44ae 99A3 std Y+33,r25 |
| 7880 44b0 88A3 std Y+32,r24 |
| 7881 44b2 4091 0000 lds r20,EE_Parameter+13 |
| 7882 44b6 40FF sbrs r20,0 |
| 7883 44b8 92C6 rjmp .L579 |
| 7884 44ba 9920 tst r9 |
| 7885 44bc 09F0 breq .+2 |
| 7886 44be 8FC6 rjmp .L579 |
| 7887 44c0 7720 tst r7 |
| 7888 44c2 09F0 breq .+2 |
| 7889 44c4 8CC6 rjmp .L579 |
| 7890 44c6 CC24 clr r12 |
| 7891 44c8 DD24 clr r13 |
| 7892 44ca 4601 movw r8,r12 |
| 7893 44cc 8091 0000 lds r24,HoverGas |
| 7894 44d0 9091 0000 lds r25,(HoverGas)+1 |
| 7895 44d4 9093 0000 sts (DebugOut+44)+1,r25 |
| 7896 44d8 8093 0000 sts DebugOut+44,r24 |
| 7897 44dc 2091 0000 lds r18,BaroExpandActive |
| 7898 44e0 3091 0000 lds r19,(BaroExpandActive)+1 |
| 7899 44e4 2115 cp r18,__zero_reg__ |
| 7900 44e6 3105 cpc r19,__zero_reg__ |
| 7901 44e8 09F0 breq .+2 |
| 7902 44ea 3FC0 rjmp .L580 |
| 7903 44ec 8091 0000 lds r24,MessLuftdruck |
| 7904 44f0 9091 0000 lds r25,(MessLuftdruck)+1 |
| 7905 44f4 8959 subi r24,lo8(921) |
| 7906 44f6 9340 sbci r25,hi8(921) |
| 7907 44f8 58F0 brlo .L581 |
| 7908 44fa 87B5 in r24,71-0x20 |
| 7909 44fc 853F cpi r24,lo8(-11) |
| 7910 44fe 20F4 brsh .L582 |
| 7911 4500 8091 0000 lds r24,ExpandBaro |
| 7912 4504 8150 subi r24,lo8(-(-1)) |
| 7913 4506 11C0 rjmp .L783 |
| 7914 .L582: |
| 7915 4508 81E0 ldi r24,lo8(1) |
| 7916 450a 8093 0000 sts BaroAtLowerLimit.30,r24 |
| 7917 450e 4EC0 rjmp .L589 |
| 7918 .L581: |
| 7919 4510 8091 0000 lds r24,MessLuftdruck |
| 7920 4514 9091 0000 lds r25,(MessLuftdruck)+1 |
| 7921 4518 8436 cpi r24,100 |
| 7922 451a 9105 cpc r25,__zero_reg__ |
| 7923 451c 08F5 brsh .L585 |
| 7924 451e 87B5 in r24,71-0x20 |
| 7925 4520 8B30 cpi r24,lo8(11) |
| 7926 4522 D0F0 brlo .L586 |
| 7927 4524 8091 0000 lds r24,ExpandBaro |
| 7928 4528 8F5F subi r24,lo8(-(1)) |
| 7929 .L783: |
| 7930 452a 8093 0000 sts ExpandBaro,r24 |
| 7931 452e 9AE0 ldi r25,lo8(10) |
| 7932 4530 8902 muls r24,r25 |
| 7933 4532 9001 movw r18,r0 |
| 7934 4534 1124 clr r1 |
| 7935 4536 8091 0000 lds r24,DruckOffsetSetting |
| 7936 453a 821B sub r24,r18 |
| 7937 453c 87BD out 71-0x20,r24 |
| 7938 453e 8CE2 ldi r24,lo8(300) |
| 7939 4540 91E0 ldi r25,hi8(300) |
| 7940 4542 9093 0000 sts (beeptime)+1,r25 |
| 7941 4546 8093 0000 sts beeptime,r24 |
| 7942 454a 8EE5 ldi r24,lo8(350) |
| 7943 454c 91E0 ldi r25,hi8(350) |
| 7944 454e 9093 0000 sts (BaroExpandActive)+1,r25 |
| 7945 4552 8093 0000 sts BaroExpandActive,r24 |
| 7946 4556 2AC0 rjmp .L589 |
| 7947 .L586: |
| 7948 4558 81E0 ldi r24,lo8(1) |
| 7949 455a 8093 0000 sts BaroAtUpperLimit.29,r24 |
| 7950 455e 26C0 rjmp .L589 |
| 7951 .L585: |
| 7952 4560 7092 0000 sts BaroAtUpperLimit.29,r7 |
| 7953 4564 7092 0000 sts BaroAtLowerLimit.30,r7 |
| 7954 4568 21C0 rjmp .L589 |
| 7955 .L580: |
| 7956 456a 8091 0000 lds r24,HoehenWert |
| 7957 456e 9091 0000 lds r25,(HoehenWert)+1 |
| 7958 4572 A091 0000 lds r26,(HoehenWert)+2 |
| 7959 4576 B091 0000 lds r27,(HoehenWert)+3 |
| 7960 457a 54E0 ldi r21,4 |
| 7961 457c 880F 1: lsl r24 |
| 7962 457e 991F rol r25 |
| 7963 4580 AA1F rol r26 |
| 7964 4582 BB1F rol r27 |
| 7965 4584 5A95 dec r21 |
| 7966 4586 D1F7 brne 1b |
| 7967 4588 8093 0000 sts SummenHoehe,r24 |
| 7968 458c 9093 0000 sts (SummenHoehe)+1,r25 |
| 7969 4590 A093 0000 sts (SummenHoehe)+2,r26 |
| 7970 4594 B093 0000 sts (SummenHoehe)+3,r27 |
| 7971 4598 D092 0000 sts (VarioMeter)+1,r13 |
| 7972 459c C092 0000 sts VarioMeter,r12 |
| 7973 45a0 2150 subi r18,lo8(-(-1)) |
| 7974 45a2 3040 sbci r19,hi8(-(-1)) |
| 7975 45a4 3093 0000 sts (BaroExpandActive)+1,r19 |
| 7976 45a8 2093 0000 sts BaroExpandActive,r18 |
| 7977 .L589: |
| 7978 45ac 2091 0000 lds r18,Parameter_MaxHoehe |
| 7979 45b0 41FF sbrs r20,1 |
| 7980 45b2 24C0 rjmp .L590 |
| 7981 45b4 2233 cpi r18,lo8(50) |
| 7982 45b6 D8F4 brsh .L591 |
| 7983 45b8 8091 0000 lds r24,delay.28 |
| 7984 45bc 8150 subi r24,lo8(-(-1)) |
| 7985 45be 8093 0000 sts delay.28,r24 |
| 7986 45c2 8F3F cpi r24,lo8(-1) |
| 7987 45c4 D9F5 brne .L594 |
| 7988 45c6 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 7989 45ca 8091 0000 lds r24,HoehenWert |
| 7990 45ce 9091 0000 lds r25,(HoehenWert)+1 |
| 7991 45d2 A091 0000 lds r26,(HoehenWert)+2 |
| 7992 45d6 B091 0000 lds r27,(HoehenWert)+3 |
| 7993 45da 8093 0000 sts SollHoehe,r24 |
| 7994 45de 9093 0000 sts (SollHoehe)+1,r25 |
| 7995 45e2 A093 0000 sts (SollHoehe)+2,r26 |
| 7996 45e6 B093 0000 sts (SollHoehe)+3,r27 |
| 7997 45ea 81E0 ldi r24,lo8(1) |
| 7998 45ec 04C0 rjmp .L784 |
| 7999 .L591: |
| 8000 45ee 81E0 ldi r24,lo8(1) |
| 8001 45f0 8093 0000 sts HoehenReglerAktiv,r24 |
| 8002 45f4 88EC ldi r24,lo8(-56) |
| 8003 .L784: |
| 8004 45f6 8093 0000 sts delay.28,r24 |
| 8005 45fa 20C0 rjmp .L594 |
| 8006 .L590: |
| 8007 45fc 8091 0000 lds r24,ExternHoehenValue |
| 8008 4600 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8009 4604 820F add r24,r18 |
| 8010 4606 911D adc r25,__zero_reg__ |
| 8011 4608 2091 0000 lds r18,EE_Parameter+18 |
| 8012 460c 3327 clr r19 |
| 8013 460e 829F mul r24,r18 |
| 8014 4610 F001 movw r30,r0 |
| 8015 4612 839F mul r24,r19 |
| 8016 4614 F00D add r31,r0 |
| 8017 4616 929F mul r25,r18 |
| 8018 4618 F00D add r31,r0 |
| 8019 461a 1124 clr r1 |
| 8020 461c CF01 movw r24,r30 |
| 8021 461e AA27 clr r26 |
| 8022 4620 97FD sbrc r25,7 |
| 8023 4622 A095 com r26 |
| 8024 4624 BA2F mov r27,r26 |
| 8025 4626 8093 0000 sts SollHoehe,r24 |
| 8026 462a 9093 0000 sts (SollHoehe)+1,r25 |
| 8027 462e A093 0000 sts (SollHoehe)+2,r26 |
| 8028 4632 B093 0000 sts (SollHoehe)+3,r27 |
| 8029 4636 81E0 ldi r24,lo8(1) |
| 8030 4638 8093 0000 sts HoehenReglerAktiv,r24 |
| 8031 .L594: |
| 8032 463c 8091 0000 lds r24,IntegralNick |
| 8033 4640 9091 0000 lds r25,(IntegralNick)+1 |
| 8034 4644 A091 0000 lds r26,(IntegralNick)+2 |
| 8035 4648 B091 0000 lds r27,(IntegralNick)+3 |
| 8036 464c E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8037 4650 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8038 4654 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8039 4658 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8040 465c BC01 movw r22,r24 |
| 8041 465e CD01 movw r24,r26 |
| 8042 4660 A801 movw r20,r16 |
| 8043 4662 9701 movw r18,r14 |
| 8044 4664 0E94 0000 call __divmodsi4 |
| 8045 4668 5901 movw r10,r18 |
| 8046 466a 6A01 movw r12,r20 |
| 8047 466c 8091 0000 lds r24,IntegralRoll |
| 8048 4670 9091 0000 lds r25,(IntegralRoll)+1 |
| 8049 4674 A091 0000 lds r26,(IntegralRoll)+2 |
| 8050 4678 B091 0000 lds r27,(IntegralRoll)+3 |
| 8051 467c BC01 movw r22,r24 |
| 8052 467e CD01 movw r24,r26 |
| 8053 4680 A801 movw r20,r16 |
| 8054 4682 9701 movw r18,r14 |
| 8055 4684 0E94 0000 call __divmodsi4 |
| 8056 4688 B901 movw r22,r18 |
| 8057 468a C501 movw r24,r10 |
| 8058 468c 0E94 0000 call ihypot |
| 8059 4690 3C01 movw r6,r24 |
| 8060 4692 CC97 sbiw r24,60 |
| 8061 4694 1CF0 brlt .L595 |
| 8062 4696 4CE3 ldi r20,lo8(60) |
| 8063 4698 642E mov r6,r20 |
| 8064 469a 712C mov r7,__zero_reg__ |
| 8065 .L595: |
| 8066 469c C301 movw r24,r6 |
| 8067 469e 0E94 0000 call c_cos_8192 |
| 8068 46a2 3C01 movw r6,r24 |
| 8069 46a4 80E2 ldi r24,lo8(32) |
| 8070 46a6 8093 0000 sts VarioCharacter,r24 |
| 8071 46aa 8091 0000 lds r24,HoehenReglerAktiv |
| 8072 46ae 8823 tst r24 |
| 8073 46b0 09F4 brne .+2 |
| 8074 46b2 21C4 rjmp .L596 |
| 8075 46b4 8091 0000 lds r24,FCFlags |
| 8076 46b8 9927 clr r25 |
| 8077 46ba 9C01 movw r18,r24 |
| 8078 46bc 2071 andi r18,lo8(16) |
| 8079 46be 3070 andi r19,hi8(16) |
| 8080 46c0 84FD sbrc r24,4 |
| 8081 46c2 19C4 rjmp .L596 |
| 8082 46c4 6091 0000 lds r22,EE_Parameter+99 |
| 8083 46c8 60FD sbrc r22,0 |
| 8084 46ca 04C0 rjmp .L598 |
| 8085 46cc 8091 0000 lds r24,EE_Parameter+13 |
| 8086 46d0 81FD sbrc r24,1 |
| 8087 46d2 07C0 rjmp .L597 |
| 8088 .L598: |
| 8089 46d4 08A1 ldd r16,Y+32 |
| 8090 46d6 19A1 ldd r17,Y+33 |
| 8091 46d8 3093 0000 sts (HeightTrimming.22)+1,r19 |
| 8092 46dc 2093 0000 sts HeightTrimming.22,r18 |
| 8093 46e0 97C1 rjmp .L599 |
| 8094 .L597: |
| 8095 46e2 8091 0000 lds r24,FCFlags |
| 8096 46e6 81FF sbrs r24,1 |
| 8097 46e8 69C1 rjmp .L600 |
| 8098 46ea 4091 0000 lds r20,StickGasHover.24 |
| 8099 46ee 5091 0000 lds r21,(StickGasHover.24)+1 |
| 8100 46f2 CA01 movw r24,r20 |
| 8101 46f4 0F96 adiw r24,15 |
| 8102 46f6 2091 0000 lds r18,StickGas |
| 8103 46fa 3091 0000 lds r19,(StickGas)+1 |
| 8104 46fe 8217 cp r24,r18 |
| 8105 4700 9307 cpc r25,r19 |
| 8106 4702 ACF5 brge .L601 |
| 8107 4704 8091 0000 lds r24,BaroAtUpperLimit.29 |
| 8108 4708 8823 tst r24 |
| 8109 470a 89F5 brne .L601 |
| 8110 470c 8091 0000 lds r24,HeightTrimmingFlag.31 |
| 8111 4710 81FF sbrs r24,1 |
| 8112 4712 13C0 rjmp .L602 |
| 8113 4714 8D7F andi r24,lo8(-3) |
| 8114 4716 8093 0000 sts HeightTrimmingFlag.31,r24 |
| 8115 471a 8091 0000 lds r24,HoehenWert |
| 8116 471e 9091 0000 lds r25,(HoehenWert)+1 |
| 8117 4722 A091 0000 lds r26,(HoehenWert)+2 |
| 8118 4726 B091 0000 lds r27,(HoehenWert)+3 |
| 8119 472a 8093 0000 sts SollHoehe,r24 |
| 8120 472e 9093 0000 sts (SollHoehe)+1,r25 |
| 8121 4732 A093 0000 sts (SollHoehe)+2,r26 |
| 8122 4736 B093 0000 sts (SollHoehe)+3,r27 |
| 8123 .L602: |
| 8124 473a 8091 0000 lds r24,HeightTrimmingFlag.31 |
| 8125 473e 8160 ori r24,lo8(1) |
| 8126 4740 8093 0000 sts HeightTrimmingFlag.31,r24 |
| 8127 4744 241B sub r18,r20 |
| 8128 4746 350B sbc r19,r21 |
| 8129 4748 2F50 subi r18,lo8(-(-15)) |
| 8130 474a 3040 sbci r19,hi8(-(-15)) |
| 8131 474c 37FF sbrs r19,7 |
| 8132 474e 03C0 rjmp .L603 |
| 8133 4750 3095 com r19 |
| 8134 4752 2195 neg r18 |
| 8135 4754 3F4F sbci r19,lo8(-1) |
| 8136 .L603: |
| 8137 4756 8091 0000 lds r24,HeightTrimming.22 |
| 8138 475a 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8139 475e 820F add r24,r18 |
| 8140 4760 931F adc r25,r19 |
| 8141 4762 9093 0000 sts (HeightTrimming.22)+1,r25 |
| 8142 4766 8093 0000 sts HeightTrimming.22,r24 |
| 8143 476a 8BE2 ldi r24,lo8(43) |
| 8144 476c 6EC0 rjmp .L785 |
| 8145 .L601: |
| 8146 476e CA01 movw r24,r20 |
| 8147 4770 0F97 sbiw r24,15 |
| 8148 4772 2817 cp r18,r24 |
| 8149 4774 3907 cpc r19,r25 |
| 8150 4776 ACF5 brge .L605 |
| 8151 4778 8091 0000 lds r24,BaroAtLowerLimit.30 |
| 8152 477c 8823 tst r24 |
| 8153 477e 89F5 brne .L605 |
| 8154 4780 8091 0000 lds r24,HeightTrimmingFlag.31 |
| 8155 4784 80FF sbrs r24,0 |
| 8156 4786 13C0 rjmp .L606 |
| 8157 4788 8E7F andi r24,lo8(-2) |
| 8158 478a 8093 0000 sts HeightTrimmingFlag.31,r24 |
| 8159 478e 8091 0000 lds r24,HoehenWert |
| 8160 4792 9091 0000 lds r25,(HoehenWert)+1 |
| 8161 4796 A091 0000 lds r26,(HoehenWert)+2 |
| 8162 479a B091 0000 lds r27,(HoehenWert)+3 |
| 8163 479e 8093 0000 sts SollHoehe,r24 |
| 8164 47a2 9093 0000 sts (SollHoehe)+1,r25 |
| 8165 47a6 A093 0000 sts (SollHoehe)+2,r26 |
| 8166 47aa B093 0000 sts (SollHoehe)+3,r27 |
| 8167 .L606: |
| 8168 47ae 8091 0000 lds r24,HeightTrimmingFlag.31 |
| 8169 47b2 8260 ori r24,lo8(2) |
| 8170 47b4 8093 0000 sts HeightTrimmingFlag.31,r24 |
| 8171 47b8 241B sub r18,r20 |
| 8172 47ba 350B sbc r19,r21 |
| 8173 47bc 215F subi r18,lo8(-(15)) |
| 8174 47be 3F4F sbci r19,hi8(-(15)) |
| 8175 47c0 37FF sbrs r19,7 |
| 8176 47c2 03C0 rjmp .L607 |
| 8177 47c4 3095 com r19 |
| 8178 47c6 2195 neg r18 |
| 8179 47c8 3F4F sbci r19,lo8(-1) |
| 8180 .L607: |
| 8181 47ca 8091 0000 lds r24,HeightTrimming.22 |
| 8182 47ce 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8183 47d2 821B sub r24,r18 |
| 8184 47d4 930B sbc r25,r19 |
| 8185 47d6 9093 0000 sts (HeightTrimming.22)+1,r25 |
| 8186 47da 8093 0000 sts HeightTrimming.22,r24 |
| 8187 47de 8DE2 ldi r24,lo8(45) |
| 8188 47e0 34C0 rjmp .L785 |
| 8189 .L605: |
| 8190 47e2 2091 0000 lds r18,HeightTrimmingFlag.31 |
| 8191 47e6 822F mov r24,r18 |
| 8192 47e8 9927 clr r25 |
| 8193 47ea 8370 andi r24,lo8(3) |
| 8194 47ec 9070 andi r25,hi8(3) |
| 8195 47ee 892B or r24,r25 |
| 8196 47f0 59F1 breq .L609 |
| 8197 47f2 2C7F andi r18,lo8(-4) |
| 8198 47f4 2093 0000 sts HeightTrimmingFlag.31,r18 |
| 8199 47f8 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
| 8200 47fc 1092 0000 sts HeightTrimming.22,__zero_reg__ |
| 8201 4800 2091 0000 lds r18,HoehenWert |
| 8202 4804 3091 0000 lds r19,(HoehenWert)+1 |
| 8203 4808 4091 0000 lds r20,(HoehenWert)+2 |
| 8204 480c 5091 0000 lds r21,(HoehenWert)+3 |
| 8205 4810 2093 0000 sts SollHoehe,r18 |
| 8206 4814 3093 0000 sts (SollHoehe)+1,r19 |
| 8207 4818 4093 0000 sts (SollHoehe)+2,r20 |
| 8208 481c 5093 0000 sts (SollHoehe)+3,r21 |
| 8209 4820 61FF sbrs r22,1 |
| 8210 4822 06C0 rjmp .L610 |
| 8211 4824 84EF ldi r24,lo8(500) |
| 8212 4826 91E0 ldi r25,hi8(500) |
| 8213 4828 9093 0000 sts (beeptime)+1,r25 |
| 8214 482c 8093 0000 sts beeptime,r24 |
| 8215 .L610: |
| 8216 4830 8091 0000 lds r24,StartTrigger |
| 8217 4834 8823 tst r24 |
| 8218 4836 41F4 brne .L609 |
| 8219 4838 2333 cpi r18,lo8(51) |
| 8220 483a 3105 cpc r19,__zero_reg__ |
| 8221 483c 4105 cpc r20,__zero_reg__ |
| 8222 483e 5105 cpc r21,__zero_reg__ |
| 8223 4840 1CF0 brlt .L609 |
| 8224 4842 81E0 ldi r24,lo8(1) |
| 8225 4844 8093 0000 sts StartTrigger,r24 |
| 8226 .L609: |
| 8227 4848 8DE3 ldi r24,lo8(61) |
| 8228 .L785: |
| 8229 484a 8093 0000 sts VarioCharacter,r24 |
| 8230 484e 2091 0000 lds r18,HeightTrimming.22 |
| 8231 4852 3091 0000 lds r19,(HeightTrimming.22)+1 |
| 8232 4856 C901 movw r24,r18 |
| 8233 4858 37FF sbrs r19,7 |
| 8234 485a 04C0 rjmp .L613 |
| 8235 485c 8827 clr r24 |
| 8236 485e 9927 clr r25 |
| 8237 4860 821B sub r24,r18 |
| 8238 4862 930B sbc r25,r19 |
| 8239 .L613: |
| 8240 4864 8150 subi r24,lo8(513) |
| 8241 4866 9240 sbci r25,hi8(513) |
| 8242 4868 0CF4 brge .+2 |
| 8243 486a 91C0 rjmp .L612 |
| 8244 486c 8091 0000 lds r24,EE_Parameter+18 |
| 8245 4870 9927 clr r25 |
| 8246 4872 289F mul r18,r24 |
| 8247 4874 A001 movw r20,r0 |
| 8248 4876 299F mul r18,r25 |
| 8249 4878 500D add r21,r0 |
| 8250 487a 389F mul r19,r24 |
| 8251 487c 500D add r21,r0 |
| 8252 487e 1124 clr r1 |
| 8253 4880 CA01 movw r24,r20 |
| 8254 4882 60E0 ldi r22,lo8(1280) |
| 8255 4884 75E0 ldi r23,hi8(1280) |
| 8256 4886 0E94 0000 call __divmodhi4 |
| 8257 488a CB01 movw r24,r22 |
| 8258 488c AA27 clr r26 |
| 8259 488e 97FD sbrc r25,7 |
| 8260 4890 A095 com r26 |
| 8261 4892 BA2F mov r27,r26 |
| 8262 4894 2091 0000 lds r18,SollHoehe |
| 8263 4898 3091 0000 lds r19,(SollHoehe)+1 |
| 8264 489c 4091 0000 lds r20,(SollHoehe)+2 |
| 8265 48a0 5091 0000 lds r21,(SollHoehe)+3 |
| 8266 48a4 280F add r18,r24 |
| 8267 48a6 391F adc r19,r25 |
| 8268 48a8 4A1F adc r20,r26 |
| 8269 48aa 5B1F adc r21,r27 |
| 8270 48ac 2093 0000 sts SollHoehe,r18 |
| 8271 48b0 3093 0000 sts (SollHoehe)+1,r19 |
| 8272 48b4 4093 0000 sts (SollHoehe)+2,r20 |
| 8273 48b8 5093 0000 sts (SollHoehe)+3,r21 |
| 8274 48bc 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
| 8275 48c0 1092 0000 sts HeightTrimming.22,__zero_reg__ |
| 8276 48c4 A090 0000 lds r10,HoehenWert |
| 8277 48c8 B090 0000 lds r11,(HoehenWert)+1 |
| 8278 48cc C090 0000 lds r12,(HoehenWert)+2 |
| 8279 48d0 D090 0000 lds r13,(HoehenWert)+3 |
| 8280 48d4 D601 movw r26,r12 |
| 8281 48d6 C501 movw r24,r10 |
| 8282 48d8 8050 subi r24,lo8(-(-1024)) |
| 8283 48da 9440 sbci r25,hi8(-(-1024)) |
| 8284 48dc A040 sbci r26,hlo8(-(-1024)) |
| 8285 48de B040 sbci r27,hhi8(-(-1024)) |
| 8286 48e0 8217 cp r24,r18 |
| 8287 48e2 9307 cpc r25,r19 |
| 8288 48e4 A407 cpc r26,r20 |
| 8289 48e6 B507 cpc r27,r21 |
| 8290 48e8 5CF4 brge .L786 |
| 8291 48ea D601 movw r26,r12 |
| 8292 48ec C501 movw r24,r10 |
| 8293 48ee 8050 subi r24,lo8(-(1024)) |
| 8294 48f0 9C4F sbci r25,hi8(-(1024)) |
| 8295 48f2 AF4F sbci r26,hlo8(-(1024)) |
| 8296 48f4 BF4F sbci r27,hhi8(-(1024)) |
| 8297 48f6 2817 cp r18,r24 |
| 8298 48f8 3907 cpc r19,r25 |
| 8299 48fa 4A07 cpc r20,r26 |
| 8300 48fc 5B07 cpc r21,r27 |
| 8301 48fe 44F0 brlt .L615 |
| 8302 .L786: |
| 8303 4900 8093 0000 sts SollHoehe,r24 |
| 8304 4904 9093 0000 sts (SollHoehe)+1,r25 |
| 8305 4908 A093 0000 sts (SollHoehe)+2,r26 |
| 8306 490c B093 0000 sts (SollHoehe)+3,r27 |
| 8307 .L615: |
| 8308 4910 8091 0000 lds r24,EE_Parameter+99 |
| 8309 4914 81FF sbrs r24,1 |
| 8310 4916 06C0 rjmp .L617 |
| 8311 4918 8BE4 ldi r24,lo8(75) |
| 8312 491a 90E0 ldi r25,hi8(75) |
| 8313 491c 9093 0000 sts (beeptime)+1,r25 |
| 8314 4920 8093 0000 sts beeptime,r24 |
| 8315 .L617: |
| 8316 4924 8091 0000 lds r24,EE_Parameter+22 |
| 8317 4928 8823 tst r24 |
| 8318 492a 89F5 brne .L612 |
| 8319 492c 4091 0000 lds r20,HoverGas |
| 8320 4930 5091 0000 lds r21,(HoverGas)+1 |
| 8321 4934 57FF sbrs r21,7 |
| 8322 4936 02C0 rjmp .L619 |
| 8323 4938 4D5F subi r20,lo8(-(3)) |
| 8324 493a 5F4F sbci r21,hi8(-(3)) |
| 8325 .L619: |
| 8326 493c 5595 asr r21 |
| 8327 493e 4795 ror r20 |
| 8328 4940 5595 asr r21 |
| 8329 4942 4795 ror r20 |
| 8330 4944 8091 0000 lds r24,UBat |
| 8331 4948 9091 0000 lds r25,(UBat)+1 |
| 8332 494c 2091 0000 lds r18,BattLowVoltageWarning |
| 8333 4950 3327 clr r19 |
| 8334 4952 489F mul r20,r24 |
| 8335 4954 B001 movw r22,r0 |
| 8336 4956 499F mul r20,r25 |
| 8337 4958 700D add r23,r0 |
| 8338 495a 589F mul r21,r24 |
| 8339 495c 700D add r23,r0 |
| 8340 495e 1124 clr r1 |
| 8341 4960 CB01 movw r24,r22 |
| 8342 4962 B901 movw r22,r18 |
| 8343 4964 0E94 0000 call __divmodhi4 |
| 8344 4968 7093 0000 sts (StickGasHover.24)+1,r23 |
| 8345 496c 6093 0000 sts StickGasHover.24,r22 |
| 8346 4970 6634 cpi r22,70 |
| 8347 4972 7105 cpc r23,__zero_reg__ |
| 8348 4974 1CF4 brge .L620 |
| 8349 4976 86E4 ldi r24,lo8(70) |
| 8350 4978 90E0 ldi r25,hi8(70) |
| 8351 497a 05C0 rjmp .L787 |
| 8352 .L620: |
| 8353 497c 6739 cpi r22,151 |
| 8354 497e 7105 cpc r23,__zero_reg__ |
| 8355 4980 34F0 brlt .L612 |
| 8356 4982 86E9 ldi r24,lo8(150) |
| 8357 4984 90E0 ldi r25,hi8(150) |
| 8358 .L787: |
| 8359 4986 9093 0000 sts (StickGasHover.24)+1,r25 |
| 8360 498a 8093 0000 sts StickGasHover.24,r24 |
| 8361 .L612: |
| 8362 498e 8091 0000 lds r24,BaroExpandActive |
| 8363 4992 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8364 4996 892B or r24,r25 |
| 8365 4998 B9F1 breq .L624 |
| 8366 499a 8091 0000 lds r24,HoehenWert |
| 8367 499e 9091 0000 lds r25,(HoehenWert)+1 |
| 8368 49a2 A091 0000 lds r26,(HoehenWert)+2 |
| 8369 49a6 B091 0000 lds r27,(HoehenWert)+3 |
| 8370 49aa 8093 0000 sts SollHoehe,r24 |
| 8371 49ae 9093 0000 sts (SollHoehe)+1,r25 |
| 8372 49b2 A093 0000 sts (SollHoehe)+2,r26 |
| 8373 49b6 B093 0000 sts (SollHoehe)+3,r27 |
| 8374 49ba 26C0 rjmp .L624 |
| 8375 .L600: |
| 8376 49bc 8091 0000 lds r24,HoehenWert |
| 8377 49c0 9091 0000 lds r25,(HoehenWert)+1 |
| 8378 49c4 A091 0000 lds r26,(HoehenWert)+2 |
| 8379 49c8 B091 0000 lds r27,(HoehenWert)+3 |
| 8380 49cc 8059 subi r24,lo8(-(-400)) |
| 8381 49ce 9140 sbci r25,hi8(-(-400)) |
| 8382 49d0 A040 sbci r26,hlo8(-(-400)) |
| 8383 49d2 B040 sbci r27,hhi8(-(-400)) |
| 8384 49d4 8093 0000 sts SollHoehe,r24 |
| 8385 49d8 9093 0000 sts (SollHoehe)+1,r25 |
| 8386 49dc A093 0000 sts (SollHoehe)+2,r26 |
| 8387 49e0 B093 0000 sts (SollHoehe)+3,r27 |
| 8388 49e4 8091 0000 lds r24,EE_Parameter+22 |
| 8389 49e8 8823 tst r24 |
| 8390 49ea 11F0 breq .L625 |
| 8391 49ec 9927 clr r25 |
| 8392 49ee 02C0 rjmp .L788 |
| 8393 .L625: |
| 8394 49f0 88E7 ldi r24,lo8(120) |
| 8395 49f2 90E0 ldi r25,hi8(120) |
| 8396 .L788: |
| 8397 49f4 9093 0000 sts (StickGasHover.24)+1,r25 |
| 8398 49f8 8093 0000 sts StickGasHover.24,r24 |
| 8399 49fc 88A1 ldd r24,Y+32 |
| 8400 49fe 99A1 ldd r25,Y+33 |
| 8401 4a00 9093 0000 sts (HoverGas)+1,r25 |
| 8402 4a04 8093 0000 sts HoverGas,r24 |
| 8403 .L624: |
| 8404 4a08 0091 0000 lds r16,HoverGas |
| 8405 4a0c 1091 0000 lds r17,(HoverGas)+1 |
| 8406 .L599: |
| 8407 4a10 A090 0000 lds r10,HoehenWert |
| 8408 4a14 B090 0000 lds r11,(HoehenWert)+1 |
| 8409 4a18 C090 0000 lds r12,(HoehenWert)+2 |
| 8410 4a1c D090 0000 lds r13,(HoehenWert)+3 |
| 8411 4a20 2091 0000 lds r18,SollHoehe |
| 8412 4a24 3091 0000 lds r19,(SollHoehe)+1 |
| 8413 4a28 4091 0000 lds r20,(SollHoehe)+2 |
| 8414 4a2c 5091 0000 lds r21,(SollHoehe)+3 |
| 8415 4a30 2A15 cp r18,r10 |
| 8416 4a32 3B05 cpc r19,r11 |
| 8417 4a34 4C05 cpc r20,r12 |
| 8418 4a36 5D05 cpc r21,r13 |
| 8419 4a38 24F0 brlt .L628 |
| 8420 4a3a 8091 0000 lds r24,EE_Parameter+99 |
| 8421 4a3e 80FD sbrc r24,0 |
| 8422 4a40 9CC2 rjmp .L682 |
| 8423 .L628: |
| 8424 4a42 8091 0000 lds r24,BaroExpandActive |
| 8425 4a46 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8426 4a4a 892B or r24,r25 |
| 8427 4a4c 39F0 breq .L629 |
| 8428 4a4e 0091 0000 lds r16,HoverGas |
| 8429 4a52 1091 0000 lds r17,(HoverGas)+1 |
| 8430 4a56 CC24 clr r12 |
| 8431 4a58 DD24 clr r13 |
| 8432 4a5a C9C0 rjmp .L630 |
| 8433 .L629: |
| 8434 4a5c D601 movw r26,r12 |
| 8435 4a5e C501 movw r24,r10 |
| 8436 4a60 821B sub r24,r18 |
| 8437 4a62 930B sbc r25,r19 |
| 8438 4a64 A40B sbc r26,r20 |
| 8439 4a66 B50B sbc r27,r21 |
| 8440 4a68 8093 0000 sts tmp_long.1,r24 |
| 8441 4a6c 9093 0000 sts (tmp_long.1)+1,r25 |
| 8442 4a70 A093 0000 sts (tmp_long.1)+2,r26 |
| 8443 4a74 B093 0000 sts (tmp_long.1)+3,r27 |
| 8444 4a78 8230 cpi r24,lo8(-32766) |
| 8445 4a7a E0E8 ldi r30,hi8(-32766) |
| 8446 4a7c 9E07 cpc r25,r30 |
| 8447 4a7e EFEF ldi r30,hlo8(-32766) |
| 8448 4a80 AE07 cpc r26,r30 |
| 8449 4a82 EFEF ldi r30,hhi8(-32766) |
| 8450 4a84 BE07 cpc r27,r30 |
| 8451 4a86 2CF4 brge .L631 |
| 8452 4a88 81E0 ldi r24,lo8(-32767) |
| 8453 4a8a 90E8 ldi r25,hi8(-32767) |
| 8454 4a8c AFEF ldi r26,hlo8(-32767) |
| 8455 4a8e BFEF ldi r27,hhi8(-32767) |
| 8456 4a90 09C0 rjmp .L789 |
| 8457 .L631: |
| 8458 4a92 8F5F subi r24,lo8(32767) |
| 8459 4a94 9F47 sbci r25,hi8(32767) |
| 8460 4a96 A040 sbci r26,hlo8(32767) |
| 8461 4a98 B040 sbci r27,hhi8(32767) |
| 8462 4a9a 64F0 brlt .L632 |
| 8463 4a9c 8FEF ldi r24,lo8(32767) |
| 8464 4a9e 9FE7 ldi r25,hi8(32767) |
| 8465 4aa0 A0E0 ldi r26,hlo8(32767) |
| 8466 4aa2 B0E0 ldi r27,hhi8(32767) |
| 8467 .L789: |
| 8468 4aa4 8093 0000 sts tmp_long.1,r24 |
| 8469 4aa8 9093 0000 sts (tmp_long.1)+1,r25 |
| 8470 4aac A093 0000 sts (tmp_long.1)+2,r26 |
| 8471 4ab0 B093 0000 sts (tmp_long.1)+3,r27 |
| 8472 .L632: |
| 8473 4ab4 C090 0000 lds r12,tmp_long.1 |
| 8474 4ab8 D090 0000 lds r13,(tmp_long.1)+1 |
| 8475 4abc 8091 0000 lds r24,Parameter_Hoehe_P |
| 8476 4ac0 282F mov r18,r24 |
| 8477 4ac2 3327 clr r19 |
| 8478 4ac4 4427 clr r20 |
| 8479 4ac6 5527 clr r21 |
| 8480 4ac8 8091 0000 lds r24,tmp_long.1 |
| 8481 4acc 9091 0000 lds r25,(tmp_long.1)+1 |
| 8482 4ad0 A091 0000 lds r26,(tmp_long.1)+2 |
| 8483 4ad4 B091 0000 lds r27,(tmp_long.1)+3 |
| 8484 4ad8 BC01 movw r22,r24 |
| 8485 4ada CD01 movw r24,r26 |
| 8486 4adc 0E94 0000 call __mulsi3 |
| 8487 4ae0 97FF sbrs r25,7 |
| 8488 4ae2 04C0 rjmp .L634 |
| 8489 4ae4 615E subi r22,lo8(-(31)) |
| 8490 4ae6 7F4F sbci r23,hi8(-(31)) |
| 8491 4ae8 8F4F sbci r24,hlo8(-(31)) |
| 8492 4aea 9F4F sbci r25,hhi8(-(31)) |
| 8493 .L634: |
| 8494 4aec 25E0 ldi r18,5 |
| 8495 4aee 9595 1: asr r25 |
| 8496 4af0 8795 ror r24 |
| 8497 4af2 7795 ror r23 |
| 8498 4af4 6795 ror r22 |
| 8499 4af6 2A95 dec r18 |
| 8500 4af8 D1F7 brne 1b |
| 8501 4afa 6093 0000 sts tmp_long.1,r22 |
| 8502 4afe 7093 0000 sts (tmp_long.1)+1,r23 |
| 8503 4b02 8093 0000 sts (tmp_long.1)+2,r24 |
| 8504 4b06 9093 0000 sts (tmp_long.1)+3,r25 |
| 8505 4b0a 6530 cpi r22,lo8(-507) |
| 8506 4b0c 2EEF ldi r18,hi8(-507) |
| 8507 4b0e 7207 cpc r23,r18 |
| 8508 4b10 2FEF ldi r18,hlo8(-507) |
| 8509 4b12 8207 cpc r24,r18 |
| 8510 4b14 2FEF ldi r18,hhi8(-507) |
| 8511 4b16 9207 cpc r25,r18 |
| 8512 4b18 2CF4 brge .L635 |
| 8513 4b1a 84E0 ldi r24,lo8(-508) |
| 8514 4b1c 9EEF ldi r25,hi8(-508) |
| 8515 4b1e AFEF ldi r26,hlo8(-508) |
| 8516 4b20 BFEF ldi r27,hhi8(-508) |
| 8517 4b22 09C0 rjmp .L790 |
| 8518 .L635: |
| 8519 4b24 6050 subi r22,lo8(1024) |
| 8520 4b26 7440 sbci r23,hi8(1024) |
| 8521 4b28 8040 sbci r24,hlo8(1024) |
| 8522 4b2a 9040 sbci r25,hhi8(1024) |
| 8523 4b2c 64F0 brlt .L636 |
| 8524 4b2e 80E0 ldi r24,lo8(1024) |
| 8525 4b30 94E0 ldi r25,hi8(1024) |
| 8526 4b32 A0E0 ldi r26,hlo8(1024) |
| 8527 4b34 B0E0 ldi r27,hhi8(1024) |
| 8528 .L790: |
| 8529 4b36 8093 0000 sts tmp_long.1,r24 |
| 8530 4b3a 9093 0000 sts (tmp_long.1)+1,r25 |
| 8531 4b3e A093 0000 sts (tmp_long.1)+2,r26 |
| 8532 4b42 B093 0000 sts (tmp_long.1)+3,r27 |
| 8533 .L636: |
| 8534 4b46 8090 0000 lds r8,tmp_long.1 |
| 8535 4b4a 9090 0000 lds r9,(tmp_long.1)+1 |
| 8536 4b4e 2091 0000 lds r18,VarioMeter |
| 8537 4b52 3091 0000 lds r19,(VarioMeter)+1 |
| 8538 4b56 37FF sbrs r19,7 |
| 8539 4b58 02C0 rjmp .L638 |
| 8540 4b5a 295F subi r18,lo8(-(7)) |
| 8541 4b5c 3F4F sbci r19,hi8(-(7)) |
| 8542 .L638: |
| 8543 4b5e 83E0 ldi r24,3 |
| 8544 4b60 3595 1: asr r19 |
| 8545 4b62 2795 ror r18 |
| 8546 4b64 8A95 dec r24 |
| 8547 4b66 E1F7 brne 1b |
| 8548 4b68 4FEF ldi r20,hi8(-126) |
| 8549 4b6a 2238 cpi r18,lo8(-126) |
| 8550 4b6c 3407 cpc r19,r20 |
| 8551 4b6e 1CF4 brge .L639 |
| 8552 4b70 21E8 ldi r18,lo8(-127) |
| 8553 4b72 3FEF ldi r19,hi8(-127) |
| 8554 4b74 05C0 rjmp .L640 |
| 8555 .L639: |
| 8556 4b76 2038 cpi r18,128 |
| 8557 4b78 3105 cpc r19,__zero_reg__ |
| 8558 4b7a 14F0 brlt .L640 |
| 8559 4b7c 20E8 ldi r18,lo8(128) |
| 8560 4b7e 30E0 ldi r19,hi8(128) |
| 8561 .L640: |
| 8562 4b80 C901 movw r24,r18 |
| 8563 4b82 AA27 clr r26 |
| 8564 4b84 97FD sbrc r25,7 |
| 8565 4b86 A095 com r26 |
| 8566 4b88 BA2F mov r27,r26 |
| 8567 4b8a 2091 0000 lds r18,Parameter_Luftdruck_D |
| 8568 4b8e 3327 clr r19 |
| 8569 4b90 4427 clr r20 |
| 8570 4b92 5527 clr r21 |
| 8571 4b94 BC01 movw r22,r24 |
| 8572 4b96 CD01 movw r24,r26 |
| 8573 4b98 0E94 0000 call __mulsi3 |
| 8574 4b9c 97FF sbrs r25,7 |
| 8575 4b9e 04C0 rjmp .L642 |
| 8576 4ba0 6D5F subi r22,lo8(-(3)) |
| 8577 4ba2 7F4F sbci r23,hi8(-(3)) |
| 8578 4ba4 8F4F sbci r24,hlo8(-(3)) |
| 8579 4ba6 9F4F sbci r25,hhi8(-(3)) |
| 8580 .L642: |
| 8581 4ba8 B2E0 ldi r27,2 |
| 8582 4baa 9595 1: asr r25 |
| 8583 4bac 8795 ror r24 |
| 8584 4bae 7795 ror r23 |
| 8585 4bb0 6795 ror r22 |
| 8586 4bb2 BA95 dec r27 |
| 8587 4bb4 D1F7 brne 1b |
| 8588 4bb6 9B01 movw r18,r22 |
| 8589 4bb8 5FEF ldi r21,hi8(-255) |
| 8590 4bba 6130 cpi r22,lo8(-255) |
| 8591 4bbc 7507 cpc r23,r21 |
| 8592 4bbe 1CF4 brge .L643 |
| 8593 4bc0 20E0 ldi r18,lo8(-256) |
| 8594 4bc2 3FEF ldi r19,hi8(-256) |
| 8595 4bc4 06C0 rjmp .L644 |
| 8596 .L643: |
| 8597 4bc6 6F3F cpi r22,255 |
| 8598 4bc8 7105 cpc r23,__zero_reg__ |
| 8599 4bca 19F0 breq .L644 |
| 8600 4bcc 14F0 brlt .L644 |
| 8601 4bce 20E0 ldi r18,lo8(256) |
| 8602 4bd0 31E0 ldi r19,hi8(256) |
| 8603 .L644: |
| 8604 4bd2 8091 0000 lds r24,HeightTrimmingFlag.31 |
| 8605 4bd6 8823 tst r24 |
| 8606 4bd8 41F0 breq .L646 |
| 8607 4bda C901 movw r24,r18 |
| 8608 4bdc 37FD sbrc r19,7 |
| 8609 4bde 0396 adiw r24,3 |
| 8610 .L647: |
| 8611 4be0 9C01 movw r18,r24 |
| 8612 4be2 3595 asr r19 |
| 8613 4be4 2795 ror r18 |
| 8614 4be6 3595 asr r19 |
| 8615 4be8 2795 ror r18 |
| 8616 .L646: |
| 8617 4bea 820E add r8,r18 |
| 8618 4bec 931E adc r9,r19 |
| 8619 .L630: |
| 8620 4bee 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 8621 4bf2 2223 tst r18 |
| 8622 4bf4 09F4 brne .+2 |
| 8623 4bf6 54C0 rjmp .L648 |
| 8624 4bf8 6091 0000 lds r22,Mess_Integral_Hoch |
| 8625 4bfc 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 8626 4c00 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 8627 4c04 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 8628 4c08 97FF sbrs r25,7 |
| 8629 4c0a 04C0 rjmp .L649 |
| 8630 4c0c 6158 subi r22,lo8(-(127)) |
| 8631 4c0e 7F4F sbci r23,hi8(-(127)) |
| 8632 4c10 8F4F sbci r24,hlo8(-(127)) |
| 8633 4c12 9F4F sbci r25,hhi8(-(127)) |
| 8634 .L649: |
| 8635 4c14 F7E0 ldi r31,7 |
| 8636 4c16 9595 1: asr r25 |
| 8637 4c18 8795 ror r24 |
| 8638 4c1a 7795 ror r23 |
| 8639 4c1c 6795 ror r22 |
| 8640 4c1e FA95 dec r31 |
| 8641 4c20 D1F7 brne 1b |
| 8642 4c22 3327 clr r19 |
| 8643 4c24 4427 clr r20 |
| 8644 4c26 5527 clr r21 |
| 8645 4c28 0E94 0000 call __mulsi3 |
| 8646 4c2c 97FF sbrs r25,7 |
| 8647 4c2e 04C0 rjmp .L650 |
| 8648 4c30 615E subi r22,lo8(-(31)) |
| 8649 4c32 7F4F sbci r23,hi8(-(31)) |
| 8650 4c34 8F4F sbci r24,hlo8(-(31)) |
| 8651 4c36 9F4F sbci r25,hhi8(-(31)) |
| 8652 .L650: |
| 8653 4c38 E5E0 ldi r30,5 |
| 8654 4c3a 9595 1: asr r25 |
| 8655 4c3c 8795 ror r24 |
| 8656 4c3e 7795 ror r23 |
| 8657 4c40 6795 ror r22 |
| 8658 4c42 EA95 dec r30 |
| 8659 4c44 D1F7 brne 1b |
| 8660 4c46 6093 0000 sts tmp_long.1,r22 |
| 8661 4c4a 7093 0000 sts (tmp_long.1)+1,r23 |
| 8662 4c4e 8093 0000 sts (tmp_long.1)+2,r24 |
| 8663 4c52 9093 0000 sts (tmp_long.1)+3,r25 |
| 8664 4c56 6138 cpi r22,lo8(-127) |
| 8665 4c58 AFEF ldi r26,hi8(-127) |
| 8666 4c5a 7A07 cpc r23,r26 |
| 8667 4c5c AFEF ldi r26,hlo8(-127) |
| 8668 4c5e 8A07 cpc r24,r26 |
| 8669 4c60 AFEF ldi r26,hhi8(-127) |
| 8670 4c62 9A07 cpc r25,r26 |
| 8671 4c64 2CF4 brge .L651 |
| 8672 4c66 80E8 ldi r24,lo8(-128) |
| 8673 4c68 9FEF ldi r25,hi8(-128) |
| 8674 4c6a AFEF ldi r26,hlo8(-128) |
| 8675 4c6c BFEF ldi r27,hhi8(-128) |
| 8676 4c6e 0AC0 rjmp .L791 |
| 8677 .L651: |
| 8678 4c70 6F3F cpi r22,lo8(255) |
| 8679 4c72 7105 cpc r23,__zero_reg__ |
| 8680 4c74 8105 cpc r24,__zero_reg__ |
| 8681 4c76 9105 cpc r25,__zero_reg__ |
| 8682 4c78 69F0 breq .L652 |
| 8683 4c7a 64F0 brlt .L652 |
| 8684 4c7c 80E0 ldi r24,lo8(256) |
| 8685 4c7e 91E0 ldi r25,hi8(256) |
| 8686 4c80 A0E0 ldi r26,hlo8(256) |
| 8687 4c82 B0E0 ldi r27,hhi8(256) |
| 8688 .L791: |
| 8689 4c84 8093 0000 sts tmp_long.1,r24 |
| 8690 4c88 9093 0000 sts (tmp_long.1)+1,r25 |
| 8691 4c8c A093 0000 sts (tmp_long.1)+2,r26 |
| 8692 4c90 B093 0000 sts (tmp_long.1)+3,r27 |
| 8693 .L652: |
| 8694 4c94 8091 0000 lds r24,tmp_long.1 |
| 8695 4c98 9091 0000 lds r25,(tmp_long.1)+1 |
| 8696 4c9c 880E add r8,r24 |
| 8697 4c9e 991E adc r9,r25 |
| 8698 .L648: |
| 8699 4ca0 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 8700 4ca4 282F mov r18,r24 |
| 8701 4ca6 3327 clr r19 |
| 8702 4ca8 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 8703 4cac 9927 clr r25 |
| 8704 4cae 87FD sbrc r24,7 |
| 8705 4cb0 9095 com r25 |
| 8706 4cb2 289F mul r18,r24 |
| 8707 4cb4 F001 movw r30,r0 |
| 8708 4cb6 299F mul r18,r25 |
| 8709 4cb8 F00D add r31,r0 |
| 8710 4cba 389F mul r19,r24 |
| 8711 4cbc F00D add r31,r0 |
| 8712 4cbe 1124 clr r1 |
| 8713 4cc0 9F01 movw r18,r30 |
| 8714 4cc2 F7FF sbrs r31,7 |
| 8715 4cc4 02C0 rjmp .L654 |
| 8716 4cc6 2158 subi r18,lo8(-(127)) |
| 8717 4cc8 3F4F sbci r19,hi8(-(127)) |
| 8718 .L654: |
| 8719 4cca 220F lsl r18 |
| 8720 4ccc 232F mov r18,r19 |
| 8721 4cce 221F rol r18 |
| 8722 4cd0 330B sbc r19,r19 |
| 8723 4cd2 FFEF ldi r31,hi8(-127) |
| 8724 4cd4 2138 cpi r18,lo8(-127) |
| 8725 4cd6 3F07 cpc r19,r31 |
| 8726 4cd8 1CF4 brge .L655 |
| 8727 4cda 20E8 ldi r18,lo8(-128) |
| 8728 4cdc 3FEF ldi r19,hi8(-128) |
| 8729 4cde 06C0 rjmp .L656 |
| 8730 .L655: |
| 8731 4ce0 2F3F cpi r18,255 |
| 8732 4ce2 3105 cpc r19,__zero_reg__ |
| 8733 4ce4 19F0 breq .L656 |
| 8734 4ce6 14F0 brlt .L656 |
| 8735 4ce8 20E0 ldi r18,lo8(256) |
| 8736 4cea 31E0 ldi r19,hi8(256) |
| 8737 .L656: |
| 8738 4cec 820E add r8,r18 |
| 8739 4cee 931E adc r9,r19 |
| 8740 4cf0 C401 movw r24,r8 |
| 8741 4cf2 AA27 clr r26 |
| 8742 4cf4 97FD sbrc r25,7 |
| 8743 4cf6 A095 com r26 |
| 8744 4cf8 BA2F mov r27,r26 |
| 8745 4cfa E090 0000 lds r14,HoverGas |
| 8746 4cfe F090 0000 lds r15,(HoverGas)+1 |
| 8747 4d02 9701 movw r18,r14 |
| 8748 4d04 4427 clr r20 |
| 8749 4d06 37FD sbrc r19,7 |
| 8750 4d08 4095 com r20 |
| 8751 4d0a 542F mov r21,r20 |
| 8752 4d0c BC01 movw r22,r24 |
| 8753 4d0e CD01 movw r24,r26 |
| 8754 4d10 0E94 0000 call __mulsi3 |
| 8755 4d14 97FF sbrs r25,7 |
| 8756 4d16 04C0 rjmp .L658 |
| 8757 4d18 6150 subi r22,lo8(-(511)) |
| 8758 4d1a 7E4F sbci r23,hi8(-(511)) |
| 8759 4d1c 8F4F sbci r24,hlo8(-(511)) |
| 8760 4d1e 9F4F sbci r25,hhi8(-(511)) |
| 8761 .L658: |
| 8762 4d20 59E0 ldi r21,9 |
| 8763 4d22 9595 1: asr r25 |
| 8764 4d24 8795 ror r24 |
| 8765 4d26 7795 ror r23 |
| 8766 4d28 6795 ror r22 |
| 8767 4d2a 5A95 dec r21 |
| 8768 4d2c D1F7 brne 1b |
| 8769 4d2e 061B sub r16,r22 |
| 8770 4d30 170B sbc r17,r23 |
| 8771 4d32 8091 0000 lds r24,HeightTrimming.22 |
| 8772 4d36 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8773 4d3a 892B or r24,r25 |
| 8774 4d3c 09F0 breq .+2 |
| 8775 4d3e 60C0 rjmp .L659 |
| 8776 4d40 1E14 cp __zero_reg__,r14 |
| 8777 4d42 1F04 cpc __zero_reg__,r15 |
| 8778 4d44 0CF0 brlt .+2 |
| 8779 4d46 5CC0 rjmp .L659 |
| 8780 4d48 9601 movw r18,r12 |
| 8781 4d4a D7FE sbrs r13,7 |
| 8782 4d4c 03C0 rjmp .L660 |
| 8783 4d4e 3095 com r19 |
| 8784 4d50 2195 neg r18 |
| 8785 4d52 3F4F sbci r19,lo8(-1) |
| 8786 .L660: |
| 8787 4d54 2D33 cpi r18,61 |
| 8788 4d56 3105 cpc r19,__zero_reg__ |
| 8789 4d58 40F4 brsh .L661 |
| 8790 4d5a 8091 0000 lds r24,HoverGasMin.25 |
| 8791 4d5e 9091 0000 lds r25,(HoverGasMin.25)+1 |
| 8792 4d62 8017 cp r24,r16 |
| 8793 4d64 9107 cpc r25,r17 |
| 8794 4d66 74F5 brge .L793 |
| 8795 4d68 26C0 rjmp .L802 |
| 8796 .L661: |
| 8797 4d6a 2C53 subi r18,lo8(-(-60)) |
| 8798 4d6c 3040 sbci r19,hi8(-(-60)) |
| 8799 4d6e 45E0 ldi r20,5 |
| 8800 4d70 3695 1: lsr r19 |
| 8801 4d72 2795 ror r18 |
| 8802 4d74 4A95 dec r20 |
| 8803 4d76 E1F7 brne 1b |
| 8804 4d78 2031 cpi r18,16 |
| 8805 4d7a 3105 cpc r19,__zero_reg__ |
| 8806 4d7c 10F0 brlo .L666 |
| 8807 4d7e 2FE0 ldi r18,lo8(15) |
| 8808 4d80 30E0 ldi r19,hi8(15) |
| 8809 .L666: |
| 8810 4d82 4091 0000 lds r20,HoverGasMin.25 |
| 8811 4d86 5091 0000 lds r21,(HoverGasMin.25)+1 |
| 8812 4d8a 1C14 cp __zero_reg__,r12 |
| 8813 4d8c 1D04 cpc __zero_reg__,r13 |
| 8814 4d8e E4F4 brge .L667 |
| 8815 4d90 80E1 ldi r24,lo8(16) |
| 8816 4d92 90E0 ldi r25,hi8(16) |
| 8817 4d94 821B sub r24,r18 |
| 8818 4d96 930B sbc r25,r19 |
| 8819 4d98 489F mul r20,r24 |
| 8820 4d9a 9001 movw r18,r0 |
| 8821 4d9c 499F mul r20,r25 |
| 8822 4d9e 300D add r19,r0 |
| 8823 4da0 589F mul r21,r24 |
| 8824 4da2 300D add r19,r0 |
| 8825 4da4 1124 clr r1 |
| 8826 4da6 94E0 ldi r25,4 |
| 8827 4da8 3695 1: lsr r19 |
| 8828 4daa 2795 ror r18 |
| 8829 4dac 9A95 dec r25 |
| 8830 4dae E1F7 brne 1b |
| 8831 4db0 2017 cp r18,r16 |
| 8832 4db2 3107 cpc r19,r17 |
| 8833 4db4 20F5 brsh .L792 |
| 8834 .L802: |
| 8835 4db6 8091 0000 lds r24,HoverGasMax.26 |
| 8836 4dba 9091 0000 lds r25,(HoverGasMax.26)+1 |
| 8837 4dbe 0817 cp r16,r24 |
| 8838 4dc0 1907 cpc r17,r25 |
| 8839 4dc2 F4F0 brlt .L659 |
| 8840 .L793: |
| 8841 4dc4 8C01 movw r16,r24 |
| 8842 4dc6 1CC0 rjmp .L659 |
| 8843 .L667: |
| 8844 4dc8 205F subi r18,lo8(-(16)) |
| 8845 4dca 3F4F sbci r19,hi8(-(16)) |
| 8846 4dcc 8091 0000 lds r24,HoverGasMax.26 |
| 8847 4dd0 9091 0000 lds r25,(HoverGasMax.26)+1 |
| 8848 4dd4 829F mul r24,r18 |
| 8849 4dd6 B001 movw r22,r0 |
| 8850 4dd8 839F mul r24,r19 |
| 8851 4dda 700D add r23,r0 |
| 8852 4ddc 929F mul r25,r18 |
| 8853 4dde 700D add r23,r0 |
| 8854 4de0 1124 clr r1 |
| 8855 4de2 9B01 movw r18,r22 |
| 8856 4de4 84E0 ldi r24,4 |
| 8857 4de6 3695 1: lsr r19 |
| 8858 4de8 2795 ror r18 |
| 8859 4dea 8A95 dec r24 |
| 8860 4dec E1F7 brne 1b |
| 8861 4dee 4017 cp r20,r16 |
| 8862 4df0 5107 cpc r21,r17 |
| 8863 4df2 14F0 brlt .L672 |
| 8864 4df4 8A01 movw r16,r20 |
| 8865 4df6 04C0 rjmp .L659 |
| 8866 .L672: |
| 8867 4df8 0217 cp r16,r18 |
| 8868 4dfa 1307 cpc r17,r19 |
| 8869 4dfc 08F0 brlo .L659 |
| 8870 .L792: |
| 8871 4dfe 8901 movw r16,r18 |
| 8872 .L659: |
| 8873 4e00 C801 movw r24,r16 |
| 8874 4e02 AA27 clr r26 |
| 8875 4e04 97FD sbrc r25,7 |
| 8876 4e06 A095 com r26 |
| 8877 4e08 BA2F mov r27,r26 |
| 8878 4e0a 1DE0 ldi r17,13 |
| 8879 4e0c 880F 1: lsl r24 |
| 8880 4e0e 991F rol r25 |
| 8881 4e10 AA1F rol r26 |
| 8882 4e12 BB1F rol r27 |
| 8883 4e14 1A95 dec r17 |
| 8884 4e16 D1F7 brne 1b |
| 8885 4e18 9301 movw r18,r6 |
| 8886 4e1a 4427 clr r20 |
| 8887 4e1c 37FD sbrc r19,7 |
| 8888 4e1e 4095 com r20 |
| 8889 4e20 542F mov r21,r20 |
| 8890 4e22 BC01 movw r22,r24 |
| 8891 4e24 CD01 movw r24,r26 |
| 8892 4e26 0E94 0000 call __divmodsi4 |
| 8893 4e2a 2093 0000 sts tmp_long2.2,r18 |
| 8894 4e2e 3093 0000 sts (tmp_long2.2)+1,r19 |
| 8895 4e32 4093 0000 sts (tmp_long2.2)+2,r20 |
| 8896 4e36 5093 0000 sts (tmp_long2.2)+3,r21 |
| 8897 4e3a 0091 0000 lds r16,tmp_long2.2 |
| 8898 4e3e 1091 0000 lds r17,(tmp_long2.2)+1 |
| 8899 4e42 8091 0000 lds r24,FilterHCGas.23 |
| 8900 4e46 9091 0000 lds r25,(FilterHCGas.23)+1 |
| 8901 4e4a 9C01 movw r18,r24 |
| 8902 4e4c 220F lsl r18 |
| 8903 4e4e 331F rol r19 |
| 8904 4e50 280F add r18,r24 |
| 8905 4e52 391F adc r19,r25 |
| 8906 4e54 200F add r18,r16 |
| 8907 4e56 311F adc r19,r17 |
| 8908 4e58 37FF sbrs r19,7 |
| 8909 4e5a 02C0 rjmp .L675 |
| 8910 4e5c 2D5F subi r18,lo8(-(3)) |
| 8911 4e5e 3F4F sbci r19,hi8(-(3)) |
| 8912 .L675: |
| 8913 4e60 A901 movw r20,r18 |
| 8914 4e62 5595 asr r21 |
| 8915 4e64 4795 ror r20 |
| 8916 4e66 5595 asr r21 |
| 8917 4e68 4795 ror r20 |
| 8918 4e6a 5093 0000 sts (FilterHCGas.23)+1,r21 |
| 8919 4e6e 4093 0000 sts FilterHCGas.23,r20 |
| 8920 4e72 8091 0000 lds r24,EE_Parameter+14 |
| 8921 4e76 282F mov r18,r24 |
| 8922 4e78 3327 clr r19 |
| 8923 4e7a 220F lsl r18 |
| 8924 4e7c 331F rol r19 |
| 8925 4e7e 220F lsl r18 |
| 8926 4e80 331F rol r19 |
| 8927 4e82 2417 cp r18,r20 |
| 8928 4e84 3507 cpc r19,r21 |
| 8929 4e86 6CF4 brge .L794 |
| 8930 4e88 8091 0000 lds r24,MAX_GAS |
| 8931 4e8c 282F mov r18,r24 |
| 8932 4e8e 3327 clr r19 |
| 8933 4e90 220F lsl r18 |
| 8934 4e92 331F rol r19 |
| 8935 4e94 220F lsl r18 |
| 8936 4e96 331F rol r19 |
| 8937 4e98 2055 subi r18,lo8(-(-80)) |
| 8938 4e9a 3040 sbci r19,hi8(-(-80)) |
| 8939 4e9c 4217 cp r20,r18 |
| 8940 4e9e 5307 cpc r21,r19 |
| 8941 4ea0 24F0 brlt .L677 |
| 8942 .L794: |
| 8943 4ea2 3093 0000 sts (FilterHCGas.23)+1,r19 |
| 8944 4ea6 2093 0000 sts FilterHCGas.23,r18 |
| 8945 .L677: |
| 8946 4eaa 8091 0000 lds r24,EE_Parameter+99 |
| 8947 4eae 80FF sbrs r24,0 |
| 8948 4eb0 0DC0 rjmp .L679 |
| 8949 4eb2 8091 0000 lds r24,FilterHCGas.23 |
| 8950 4eb6 9091 0000 lds r25,(FilterHCGas.23)+1 |
| 8951 4eba A8A1 ldd r26,Y+32 |
| 8952 4ebc B9A1 ldd r27,Y+33 |
| 8953 4ebe 8A17 cp r24,r26 |
| 8954 4ec0 9B07 cpc r25,r27 |
| 8955 4ec2 24F0 brlt .L679 |
| 8956 4ec4 B093 0000 sts (FilterHCGas.23)+1,r27 |
| 8957 4ec8 A093 0000 sts FilterHCGas.23,r26 |
| 8958 .L679: |
| 8959 4ecc 28A1 ldd r18,Y+32 |
| 8960 4ece 39A1 ldd r19,Y+33 |
| 8961 4ed0 2E19 sub r18,r14 |
| 8962 4ed2 3F09 sbc r19,r15 |
| 8963 4ed4 37FF sbrs r19,7 |
| 8964 4ed6 02C0 rjmp .L681 |
| 8965 4ed8 2D5F subi r18,lo8(-(3)) |
| 8966 4eda 3F4F sbci r19,hi8(-(3)) |
| 8967 .L681: |
| 8968 4edc 3595 asr r19 |
| 8969 4ede 2795 ror r18 |
| 8970 4ee0 3595 asr r19 |
| 8971 4ee2 2795 ror r18 |
| 8972 4ee4 E091 0000 lds r30,FilterHCGas.23 |
| 8973 4ee8 F091 0000 lds r31,(FilterHCGas.23)+1 |
| 8974 4eec E20F add r30,r18 |
| 8975 4eee F31F adc r31,r19 |
| 8976 4ef0 F9A3 std Y+33,r31 |
| 8977 4ef2 E8A3 std Y+32,r30 |
| 8978 4ef4 42C0 rjmp .L682 |
| 8979 .L596: |
| 8980 4ef6 8091 0000 lds r24,EE_Parameter+22 |
| 8981 4efa 8823 tst r24 |
| 8982 4efc 01F5 brne .L683 |
| 8983 4efe 6091 0000 lds r22,HoverGas |
| 8984 4f02 7091 0000 lds r23,(HoverGas)+1 |
| 8985 4f06 77FF sbrs r23,7 |
| 8986 4f08 02C0 rjmp .L684 |
| 8987 4f0a 6D5F subi r22,lo8(-(3)) |
| 8988 4f0c 7F4F sbci r23,hi8(-(3)) |
| 8989 .L684: |
| 8990 4f0e 7595 asr r23 |
| 8991 4f10 6795 ror r22 |
| 8992 4f12 7595 asr r23 |
| 8993 4f14 6795 ror r22 |
| 8994 4f16 4091 0000 lds r20,UBat |
| 8995 4f1a 5091 0000 lds r21,(UBat)+1 |
| 8996 4f1e 8091 0000 lds r24,BattLowVoltageWarning |
| 8997 4f22 282F mov r18,r24 |
| 8998 4f24 3327 clr r19 |
| 8999 4f26 649F mul r22,r20 |
| 9000 4f28 C001 movw r24,r0 |
| 9001 4f2a 659F mul r22,r21 |
| 9002 4f2c 900D add r25,r0 |
| 9003 4f2e 749F mul r23,r20 |
| 9004 4f30 900D add r25,r0 |
| 9005 4f32 1124 clr r1 |
| 9006 4f34 B901 movw r22,r18 |
| 9007 4f36 0E94 0000 call __divmodhi4 |
| 9008 4f3a CB01 movw r24,r22 |
| 9009 4f3c 01C0 rjmp .L795 |
| 9010 .L683: |
| 9011 4f3e 9927 clr r25 |
| 9012 .L795: |
| 9013 4f40 9093 0000 sts (StickGasHover.24)+1,r25 |
| 9014 4f44 8093 0000 sts StickGasHover.24,r24 |
| 9015 4f48 8091 0000 lds r24,StickGasHover.24 |
| 9016 4f4c 9091 0000 lds r25,(StickGasHover.24)+1 |
| 9017 4f50 8734 cpi r24,71 |
| 9018 4f52 9105 cpc r25,__zero_reg__ |
| 9019 4f54 1CF4 brge .L686 |
| 9020 4f56 86E4 ldi r24,lo8(70) |
| 9021 4f58 90E0 ldi r25,hi8(70) |
| 9022 4f5a 05C0 rjmp .L796 |
| 9023 .L686: |
| 9024 4f5c 8639 cpi r24,150 |
| 9025 4f5e 9105 cpc r25,__zero_reg__ |
| 9026 4f60 34F0 brlt .L687 |
| 9027 4f62 86E9 ldi r24,lo8(150) |
| 9028 4f64 90E0 ldi r25,hi8(150) |
| 9029 .L796: |
| 9030 4f66 9093 0000 sts (StickGasHover.24)+1,r25 |
| 9031 4f6a 8093 0000 sts StickGasHover.24,r24 |
| 9032 .L687: |
| 9033 4f6e E8A0 ldd r14,Y+32 |
| 9034 4f70 F9A0 ldd r15,Y+33 |
| 9035 4f72 F092 0000 sts (FilterHCGas.23)+1,r15 |
| 9036 4f76 E092 0000 sts FilterHCGas.23,r14 |
| 9037 .L682: |
| 9038 4f7a 8091 0000 lds r24,FCFlags |
| 9039 4f7e 9927 clr r25 |
| 9040 4f80 9C01 movw r18,r24 |
| 9041 4f82 2270 andi r18,lo8(2) |
| 9042 4f84 3070 andi r19,hi8(2) |
| 9043 4f86 81FF sbrs r24,1 |
| 9044 4f88 1CC1 rjmp .L689 |
| 9045 4f8a 8091 0000 lds r24,HoverGasFilter.27 |
| 9046 4f8e 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9047 4f92 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9048 4f96 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9049 4f9a 0097 sbiw r24,0 |
| 9050 4f9c A105 cpc r26,__zero_reg__ |
| 9051 4f9e B105 cpc r27,__zero_reg__ |
| 9052 4fa0 21F0 breq .L691 |
| 9053 4fa2 8091 0000 lds r24,StartTrigger |
| 9054 4fa6 8130 cpi r24,lo8(1) |
| 9055 4fa8 B1F4 brne .L690 |
| 9056 .L691: |
| 9057 4faa 08A1 ldd r16,Y+32 |
| 9058 4fac 19A1 ldd r17,Y+33 |
| 9059 4fae C801 movw r24,r16 |
| 9060 4fb0 AA27 clr r26 |
| 9061 4fb2 97FD sbrc r25,7 |
| 9062 4fb4 A095 com r26 |
| 9063 4fb6 BA2F mov r27,r26 |
| 9064 4fb8 2EE0 ldi r18,14 |
| 9065 4fba 880F 1: lsl r24 |
| 9066 4fbc 991F rol r25 |
| 9067 4fbe AA1F rol r26 |
| 9068 4fc0 BB1F rol r27 |
| 9069 4fc2 2A95 dec r18 |
| 9070 4fc4 D1F7 brne 1b |
| 9071 4fc6 8093 0000 sts HoverGasFilter.27,r24 |
| 9072 4fca 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9073 4fce A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9074 4fd2 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9075 .L690: |
| 9076 4fd6 8091 0000 lds r24,StartTrigger |
| 9077 4fda 8130 cpi r24,lo8(1) |
| 9078 4fdc 19F4 brne .L692 |
| 9079 4fde 82E0 ldi r24,lo8(2) |
| 9080 4fe0 8093 0000 sts StartTrigger,r24 |
| 9081 .L692: |
| 9082 4fe4 28A1 ldd r18,Y+32 |
| 9083 4fe6 39A1 ldd r19,Y+33 |
| 9084 4fe8 C901 movw r24,r18 |
| 9085 4fea AA27 clr r26 |
| 9086 4fec 97FD sbrc r25,7 |
| 9087 4fee A095 com r26 |
| 9088 4ff0 BA2F mov r27,r26 |
| 9089 4ff2 9301 movw r18,r6 |
| 9090 4ff4 4427 clr r20 |
| 9091 4ff6 37FD sbrc r19,7 |
| 9092 4ff8 4095 com r20 |
| 9093 4ffa 542F mov r21,r20 |
| 9094 4ffc BC01 movw r22,r24 |
| 9095 4ffe CD01 movw r24,r26 |
| 9096 5000 0E94 0000 call __mulsi3 |
| 9097 5004 DC01 movw r26,r24 |
| 9098 5006 CB01 movw r24,r22 |
| 9099 5008 8093 0000 sts tmp_long2.2,r24 |
| 9100 500c 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9101 5010 A093 0000 sts (tmp_long2.2)+2,r26 |
| 9102 5014 B093 0000 sts (tmp_long2.2)+3,r27 |
| 9103 5018 B7FF sbrs r27,7 |
| 9104 501a 04C0 rjmp .L693 |
| 9105 501c 8150 subi r24,lo8(-(8191)) |
| 9106 501e 904E sbci r25,hi8(-(8191)) |
| 9107 5020 AF4F sbci r26,hlo8(-(8191)) |
| 9108 5022 BF4F sbci r27,hhi8(-(8191)) |
| 9109 .L693: |
| 9110 5024 5C01 movw r10,r24 |
| 9111 5026 6D01 movw r12,r26 |
| 9112 5028 0DE0 ldi r16,13 |
| 9113 502a D594 1: asr r13 |
| 9114 502c C794 ror r12 |
| 9115 502e B794 ror r11 |
| 9116 5030 A794 ror r10 |
| 9117 5032 0A95 dec r16 |
| 9118 5034 D1F7 brne 1b |
| 9119 5036 A092 0000 sts tmp_long2.2,r10 |
| 9120 503a B092 0000 sts (tmp_long2.2)+1,r11 |
| 9121 503e C092 0000 sts (tmp_long2.2)+2,r12 |
| 9122 5042 D092 0000 sts (tmp_long2.2)+3,r13 |
| 9123 5046 6091 0000 lds r22,modell_fliegt |
| 9124 504a 7091 0000 lds r23,(modell_fliegt)+1 |
| 9125 504e 3FE0 ldi r19,hi8(4000) |
| 9126 5050 603A cpi r22,lo8(4000) |
| 9127 5052 7307 cpc r23,r19 |
| 9128 5054 50F5 brsh .L694 |
| 9129 5056 8091 0000 lds r24,HoverGasFilter.27 |
| 9130 505a 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9131 505e A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9132 5062 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9133 5066 9C01 movw r18,r24 |
| 9134 5068 AD01 movw r20,r26 |
| 9135 506a 1AE0 ldi r17,10 |
| 9136 506c 5695 1: lsr r21 |
| 9137 506e 4795 ror r20 |
| 9138 5070 3795 ror r19 |
| 9139 5072 2795 ror r18 |
| 9140 5074 1A95 dec r17 |
| 9141 5076 D1F7 brne 1b |
| 9142 5078 821B sub r24,r18 |
| 9143 507a 930B sbc r25,r19 |
| 9144 507c A40B sbc r26,r20 |
| 9145 507e B50B sbc r27,r21 |
| 9146 5080 A601 movw r20,r12 |
| 9147 5082 9501 movw r18,r10 |
| 9148 5084 F4E0 ldi r31,4 |
| 9149 5086 220F 1: lsl r18 |
| 9150 5088 331F rol r19 |
| 9151 508a 441F rol r20 |
| 9152 508c 551F rol r21 |
| 9153 508e FA95 dec r31 |
| 9154 5090 D1F7 brne 1b |
| 9155 5092 820F add r24,r18 |
| 9156 5094 931F adc r25,r19 |
| 9157 5096 A41F adc r26,r20 |
| 9158 5098 B51F adc r27,r21 |
| 9159 509a 8093 0000 sts HoverGasFilter.27,r24 |
| 9160 509e 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9161 50a2 A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9162 50a6 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9163 .L694: |
| 9164 50aa 6054 subi r22,lo8(8000) |
| 9165 50ac 7F41 sbci r23,hi8(8000) |
| 9166 50ae 18F5 brsh .L695 |
| 9167 50b0 8091 0000 lds r24,HoverGasFilter.27 |
| 9168 50b4 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9169 50b8 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9170 50bc B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9171 50c0 9C01 movw r18,r24 |
| 9172 50c2 AD01 movw r20,r26 |
| 9173 50c4 ECE0 ldi r30,12 |
| 9174 50c6 5695 1: lsr r21 |
| 9175 50c8 4795 ror r20 |
| 9176 50ca 3795 ror r19 |
| 9177 50cc 2795 ror r18 |
| 9178 50ce EA95 dec r30 |
| 9179 50d0 D1F7 brne 1b |
| 9180 50d2 821B sub r24,r18 |
| 9181 50d4 930B sbc r25,r19 |
| 9182 50d6 A40B sbc r26,r20 |
| 9183 50d8 B50B sbc r27,r21 |
| 9184 50da A601 movw r20,r12 |
| 9185 50dc 9501 movw r18,r10 |
| 9186 50de 72E0 ldi r23,2 |
| 9187 50e0 220F 1: lsl r18 |
| 9188 50e2 331F rol r19 |
| 9189 50e4 441F rol r20 |
| 9190 50e6 551F rol r21 |
| 9191 50e8 7A95 dec r23 |
| 9192 50ea D1F7 brne 1b |
| 9193 50ec 820F add r24,r18 |
| 9194 50ee 931F adc r25,r19 |
| 9195 50f0 A41F adc r26,r20 |
| 9196 50f2 B51F adc r27,r21 |
| 9197 50f4 29C0 rjmp .L797 |
| 9198 .L695: |
| 9199 50f6 8091 0000 lds r24,VarioMeter |
| 9200 50fa 9091 0000 lds r25,(VarioMeter)+1 |
| 9201 50fe 8091 0000 lds r24,VarioMeter |
| 9202 5102 9091 0000 lds r25,(VarioMeter)+1 |
| 9203 5106 97FF sbrs r25,7 |
| 9204 5108 03C0 rjmp .L698 |
| 9205 510a 9095 com r25 |
| 9206 510c 8195 neg r24 |
| 9207 510e 9F4F sbci r25,lo8(-1) |
| 9208 .L698: |
| 9209 5110 8436 cpi r24,100 |
| 9210 5112 9105 cpc r25,__zero_reg__ |
| 9211 5114 0CF5 brge .L696 |
| 9212 5116 8091 0000 lds r24,HoverGasFilter.27 |
| 9213 511a 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9214 511e A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9215 5122 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9216 5126 9C01 movw r18,r24 |
| 9217 5128 AD01 movw r20,r26 |
| 9218 512a 6EE0 ldi r22,14 |
| 9219 512c 5695 1: lsr r21 |
| 9220 512e 4795 ror r20 |
| 9221 5130 3795 ror r19 |
| 9222 5132 2795 ror r18 |
| 9223 5134 6A95 dec r22 |
| 9224 5136 D1F7 brne 1b |
| 9225 5138 821B sub r24,r18 |
| 9226 513a 930B sbc r25,r19 |
| 9227 513c A40B sbc r26,r20 |
| 9228 513e B50B sbc r27,r21 |
| 9229 5140 8A0D add r24,r10 |
| 9230 5142 9B1D adc r25,r11 |
| 9231 5144 AC1D adc r26,r12 |
| 9232 5146 BD1D adc r27,r13 |
| 9233 .L797: |
| 9234 5148 8093 0000 sts HoverGasFilter.27,r24 |
| 9235 514c 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9236 5150 A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9237 5154 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9238 .L696: |
| 9239 5158 8091 0000 lds r24,HoverGasFilter.27 |
| 9240 515c 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9241 5160 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9242 5164 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9243 5168 2EE0 ldi r18,14 |
| 9244 516a B695 1: lsr r27 |
| 9245 516c A795 ror r26 |
| 9246 516e 9795 ror r25 |
| 9247 5170 8795 ror r24 |
| 9248 5172 2A95 dec r18 |
| 9249 5174 D1F7 brne 1b |
| 9250 5176 9093 0000 sts (HoverGas)+1,r25 |
| 9251 517a 8093 0000 sts HoverGas,r24 |
| 9252 517e 4091 0000 lds r20,EE_Parameter+20 |
| 9253 5182 4423 tst r20 |
| 9254 5184 99F0 breq .L699 |
| 9255 5186 5527 clr r21 |
| 9256 5188 9C01 movw r18,r24 |
| 9257 518a BA01 movw r22,r20 |
| 9258 518c 0E94 0000 call __divmodhi4 |
| 9259 5190 C901 movw r24,r18 |
| 9260 5192 861B sub r24,r22 |
| 9261 5194 970B sbc r25,r23 |
| 9262 5196 9093 0000 sts (HoverGasMin.25)+1,r25 |
| 9263 519a 8093 0000 sts HoverGasMin.25,r24 |
| 9264 519e 260F add r18,r22 |
| 9265 51a0 371F adc r19,r23 |
| 9266 51a2 3093 0000 sts (HoverGasMax.26)+1,r19 |
| 9267 51a6 2093 0000 sts HoverGasMax.26,r18 |
| 9268 51aa 19C0 rjmp .L579 |
| 9269 .L699: |
| 9270 51ac 1092 0000 sts (HoverGasMin.25)+1,__zero_reg__ |
| 9271 51b0 1092 0000 sts HoverGasMin.25,__zero_reg__ |
| 9272 51b4 8FEF ldi r24,lo8(1023) |
| 9273 51b6 93E0 ldi r25,hi8(1023) |
| 9274 51b8 9093 0000 sts (HoverGasMax.26)+1,r25 |
| 9275 51bc 8093 0000 sts HoverGasMax.26,r24 |
| 9276 51c0 0EC0 rjmp .L579 |
| 9277 .L689: |
| 9278 51c2 1092 0000 sts StartTrigger,__zero_reg__ |
| 9279 51c6 1092 0000 sts HoverGasFilter.27,__zero_reg__ |
| 9280 51ca 1092 0000 sts (HoverGasFilter.27)+1,__zero_reg__ |
| 9281 51ce 1092 0000 sts (HoverGasFilter.27)+2,__zero_reg__ |
| 9282 51d2 1092 0000 sts (HoverGasFilter.27)+3,__zero_reg__ |
| 9283 51d6 3093 0000 sts (HoverGas)+1,r19 |
| 9284 51da 2093 0000 sts HoverGas,r18 |
| 9285 .L579: |
| 9286 51de 5091 0000 lds r21,MIN_GAS |
| 9287 51e2 58AB std Y+48,r21 |
| 9288 51e4 252F mov r18,r21 |
| 9289 51e6 3327 clr r19 |
| 9290 51e8 220F lsl r18 |
| 9291 51ea 331F rol r19 |
| 9292 51ec 220F lsl r18 |
| 9293 51ee 331F rol r19 |
| 9294 51f0 285D subi r18,lo8(-(40)) |
| 9295 51f2 3F4F sbci r19,hi8(-(40)) |
| 9296 51f4 68A1 ldd r22,Y+32 |
| 9297 51f6 79A1 ldd r23,Y+33 |
| 9298 51f8 2617 cp r18,r22 |
| 9299 51fa 3707 cpc r19,r23 |
| 9300 51fc 14F0 brlt .L702 |
| 9301 51fe 39A3 std Y+33,r19 |
| 9302 5200 28A3 std Y+32,r18 |
| 9303 .L702: |
| 9304 5202 7091 0000 lds r23,MAX_GAS |
| 9305 5206 79AB std Y+49,r23 |
| 9306 5208 872F mov r24,r23 |
| 9307 520a 9927 clr r25 |
| 9308 520c 880F lsl r24 |
| 9309 520e 991F rol r25 |
| 9310 5210 880F lsl r24 |
| 9311 5212 991F rol r25 |
| 9312 5214 8055 subi r24,lo8(-(-80)) |
| 9313 5216 9040 sbci r25,hi8(-(-80)) |
| 9314 5218 A8A1 ldd r26,Y+32 |
| 9315 521a B9A1 ldd r27,Y+33 |
| 9316 521c 8A17 cp r24,r26 |
| 9317 521e 9B07 cpc r25,r27 |
| 9318 5220 14F4 brge .L703 |
| 9319 5222 99A3 std Y+33,r25 |
| 9320 5224 88A3 std Y+32,r24 |
| 9321 .L703: |
| 9322 5226 8091 0000 lds r24,MissingMotor |
| 9323 522a 8823 tst r24 |
| 9324 522c 21F4 brne .L705 |
| 9325 522e 8091 0000 lds r24,Capacity+6 |
| 9326 5232 8F3F cpi r24,lo8(-1) |
| 9327 5234 A1F0 breq .L704 |
| 9328 .L705: |
| 9329 5236 8091 0000 lds r24,modell_fliegt |
| 9330 523a 9091 0000 lds r25,(modell_fliegt)+1 |
| 9331 523e 0297 sbiw r24,2 |
| 9332 5240 C097 sbiw r24,48 |
| 9333 5242 68F4 brsh .L704 |
| 9334 5244 E8A1 ldd r30,Y+32 |
| 9335 5246 F9A1 ldd r31,Y+33 |
| 9336 5248 1E16 cp __zero_reg__,r30 |
| 9337 524a 1F06 cpc __zero_reg__,r31 |
| 9338 524c 44F4 brge .L704 |
| 9339 524e 81E0 ldi r24,lo8(1) |
| 9340 5250 90E0 ldi r25,hi8(1) |
| 9341 5252 9093 0000 sts (modell_fliegt)+1,r25 |
| 9342 5256 8093 0000 sts modell_fliegt,r24 |
| 9343 525a 39A3 std Y+33,r19 |
| 9344 525c 28A3 std Y+32,r18 |
| 9345 .L704: |
| 9346 525e E8A0 ldd r14,Y+32 |
| 9347 5260 F9A0 ldd r15,Y+33 |
| 9348 5262 F092 0000 sts (DebugOut+16)+1,r15 |
| 9349 5266 E092 0000 sts DebugOut+16,r14 |
| 9350 526a 8091 0000 lds r24,sollGier.0 |
| 9351 526e 9091 0000 lds r25,(sollGier.0)+1 |
| 9352 5272 A091 0000 lds r26,(sollGier.0)+2 |
| 9353 5276 B091 0000 lds r27,(sollGier.0)+3 |
| 9354 527a 12E0 ldi r17,2 |
| 9355 527c 880F 1: lsl r24 |
| 9356 527e 991F rol r25 |
| 9357 5280 AA1F rol r26 |
| 9358 5282 BB1F rol r27 |
| 9359 5284 1A95 dec r17 |
| 9360 5286 D1F7 brne 1b |
| 9361 5288 C090 0000 lds r12,MesswertGier |
| 9362 528c D090 0000 lds r13,(MesswertGier)+1 |
| 9363 5290 C81A sub r12,r24 |
| 9364 5292 D90A sbc r13,r25 |
| 9365 5294 8701 movw r16,r14 |
| 9366 5296 013A cpi r16,161 |
| 9367 5298 1105 cpc r17,__zero_reg__ |
| 9368 529a 8CF0 brlt .L707 |
| 9369 529c C701 movw r24,r14 |
| 9370 529e F7FC sbrc r15,7 |
| 9371 52a0 0196 adiw r24,1 |
| 9372 .L709: |
| 9373 52a2 9595 asr r25 |
| 9374 52a4 8795 ror r24 |
| 9375 52a6 8C15 cp r24,r12 |
| 9376 52a8 9D05 cpc r25,r13 |
| 9377 52aa 0CF4 brge .L708 |
| 9378 52ac 6C01 movw r12,r24 |
| 9379 .L708: |
| 9380 52ae 9095 com r25 |
| 9381 52b0 8195 neg r24 |
| 9382 52b2 9F4F sbci r25,lo8(-1) |
| 9383 52b4 C816 cp r12,r24 |
| 9384 52b6 D906 cpc r13,r25 |
| 9385 52b8 94F4 brge .L714 |
| 9386 52ba 6C01 movw r12,r24 |
| 9387 52bc 10C0 rjmp .L714 |
| 9388 .L707: |
| 9389 52be 11E5 ldi r17,lo8(81) |
| 9390 52c0 C116 cp r12,r17 |
| 9391 52c2 D104 cpc r13,__zero_reg__ |
| 9392 52c4 1CF0 brlt .L715 |
| 9393 52c6 E0E5 ldi r30,lo8(80) |
| 9394 52c8 CE2E mov r12,r30 |
| 9395 52ca D12C mov r13,__zero_reg__ |
| 9396 .L715: |
| 9397 52cc 20EB ldi r18,lo8(-80) |
| 9398 52ce C216 cp r12,r18 |
| 9399 52d0 2FEF ldi r18,hi8(-80) |
| 9400 52d2 D206 cpc r13,r18 |
| 9401 52d4 24F4 brge .L714 |
| 9402 52d6 70EB ldi r23,lo8(-80) |
| 9403 52d8 C72E mov r12,r23 |
| 9404 52da 7FEF ldi r23,hi8(-80) |
| 9405 52dc D72E mov r13,r23 |
| 9406 .L714: |
| 9407 52de 49A9 ldd r20,Y+49 |
| 9408 52e0 242F mov r18,r20 |
| 9409 52e2 3327 clr r19 |
| 9410 52e4 220F lsl r18 |
| 9411 52e6 331F rol r19 |
| 9412 52e8 220F lsl r18 |
| 9413 52ea 331F rol r19 |
| 9414 52ec C901 movw r24,r18 |
| 9415 52ee 68A1 ldd r22,Y+32 |
| 9416 52f0 79A1 ldd r23,Y+33 |
| 9417 52f2 861B sub r24,r22 |
| 9418 52f4 970B sbc r25,r23 |
| 9419 52f6 8C15 cp r24,r12 |
| 9420 52f8 9D05 cpc r25,r13 |
| 9421 52fa 0CF4 brge .L717 |
| 9422 52fc 6C01 movw r12,r24 |
| 9423 .L717: |
| 9424 52fe 88A1 ldd r24,Y+32 |
| 9425 5300 99A1 ldd r25,Y+33 |
| 9426 5302 821B sub r24,r18 |
| 9427 5304 930B sbc r25,r19 |
| 9428 5306 C816 cp r12,r24 |
| 9429 5308 D906 cpc r13,r25 |
| 9430 530a 0CF4 brge .L718 |
| 9431 530c 6C01 movw r12,r24 |
| 9432 .L718: |
| 9433 530e 8091 0000 lds r24,MesswertNick |
| 9434 5312 9091 0000 lds r25,(MesswertNick)+1 |
| 9435 5316 6091 0000 lds r22,StickNick |
| 9436 531a 7091 0000 lds r23,(StickNick)+1 |
| 9437 531e 861B sub r24,r22 |
| 9438 5320 970B sbc r25,r23 |
| 9439 5322 9093 0000 sts (DiffNick)+1,r25 |
| 9440 5326 8093 0000 sts DiffNick,r24 |
| 9441 532a A090 0000 lds r10,IntegralFaktor |
| 9442 532e 2091 0000 lds r18,SummeNick |
| 9443 5332 3091 0000 lds r19,(SummeNick)+1 |
| 9444 5336 4091 0000 lds r20,(SummeNick)+2 |
| 9445 533a 5091 0000 lds r21,(SummeNick)+3 |
| 9446 533e AA20 tst r10 |
| 9447 5340 41F0 breq .L719 |
| 9448 5342 461A sub r4,r22 |
| 9449 5344 570A sbc r5,r23 |
| 9450 5346 C201 movw r24,r4 |
| 9451 5348 AA27 clr r26 |
| 9452 534a 97FD sbrc r25,7 |
| 9453 534c A095 com r26 |
| 9454 534e BA2F mov r27,r26 |
| 9455 5350 04C0 rjmp .L798 |
| 9456 .L719: |
| 9457 5352 AA27 clr r26 |
| 9458 5354 97FD sbrc r25,7 |
| 9459 5356 A095 com r26 |
| 9460 5358 BA2F mov r27,r26 |
| 9461 .L798: |
| 9462 535a 280F add r18,r24 |
| 9463 535c 391F adc r19,r25 |
| 9464 535e 4A1F adc r20,r26 |
| 9465 5360 5B1F adc r21,r27 |
| 9466 5362 2093 0000 sts SummeNick,r18 |
| 9467 5366 3093 0000 sts (SummeNick)+1,r19 |
| 9468 536a 4093 0000 sts (SummeNick)+2,r20 |
| 9469 536e 5093 0000 sts (SummeNick)+3,r21 |
| 9470 5372 8091 0000 lds r24,SummeNick |
| 9471 5376 9091 0000 lds r25,(SummeNick)+1 |
| 9472 537a A091 0000 lds r26,(SummeNick)+2 |
| 9473 537e B091 0000 lds r27,(SummeNick)+3 |
| 9474 5382 8150 subi r24,lo8(64001) |
| 9475 5384 9A4F sbci r25,hi8(64001) |
| 9476 5386 A040 sbci r26,hlo8(64001) |
| 9477 5388 B040 sbci r27,hhi8(64001) |
| 9478 538a 64F0 brlt .L721 |
| 9479 538c 80E0 ldi r24,lo8(64000) |
| 9480 538e 9AEF ldi r25,hi8(64000) |
| 9481 5390 A0E0 ldi r26,hlo8(64000) |
| 9482 5392 B0E0 ldi r27,hhi8(64000) |
| 9483 5394 8093 0000 sts SummeNick,r24 |
| 9484 5398 9093 0000 sts (SummeNick)+1,r25 |
| 9485 539c A093 0000 sts (SummeNick)+2,r26 |
| 9486 53a0 B093 0000 sts (SummeNick)+3,r27 |
| 9487 .L721: |
| 9488 53a4 8091 0000 lds r24,SummeNick |
| 9489 53a8 9091 0000 lds r25,(SummeNick)+1 |
| 9490 53ac A091 0000 lds r26,(SummeNick)+2 |
| 9491 53b0 B091 0000 lds r27,(SummeNick)+3 |
| 9492 53b4 8050 subi r24,lo8(-64000) |
| 9493 53b6 9640 sbci r25,hi8(-64000) |
| 9494 53b8 AF4F sbci r26,hlo8(-64000) |
| 9495 53ba BF4F sbci r27,hhi8(-64000) |
| 9496 53bc 64F4 brge .L722 |
| 9497 53be 80E0 ldi r24,lo8(-64000) |
| 9498 53c0 96E0 ldi r25,hi8(-64000) |
| 9499 53c2 AFEF ldi r26,hlo8(-64000) |
| 9500 53c4 BFEF ldi r27,hhi8(-64000) |
| 9501 53c6 8093 0000 sts SummeNick,r24 |
| 9502 53ca 9093 0000 sts (SummeNick)+1,r25 |
| 9503 53ce A093 0000 sts (SummeNick)+2,r26 |
| 9504 53d2 B093 0000 sts (SummeNick)+3,r27 |
| 9505 .L722: |
| 9506 53d6 B090 0000 lds r11,EE_Parameter+35 |
| 9507 53da 2B2D mov r18,r11 |
| 9508 53dc 3327 clr r19 |
| 9509 53de 8091 0000 lds r24,DiffNick |
| 9510 53e2 9091 0000 lds r25,(DiffNick)+1 |
| 9511 53e6 289F mul r18,r24 |
| 9512 53e8 7001 movw r14,r0 |
| 9513 53ea 299F mul r18,r25 |
| 9514 53ec F00C add r15,r0 |
| 9515 53ee 389F mul r19,r24 |
| 9516 53f0 F00C add r15,r0 |
| 9517 53f2 1124 clr r1 |
| 9518 53f4 9701 movw r18,r14 |
| 9519 53f6 F7FE sbrs r15,7 |
| 9520 53f8 02C0 rjmp .L723 |
| 9521 53fa 295F subi r18,lo8(-(7)) |
| 9522 53fc 3F4F sbci r19,hi8(-(7)) |
| 9523 .L723: |
| 9524 53fe 7901 movw r14,r18 |
| 9525 5400 53E0 ldi r21,3 |
| 9526 5402 F594 1: asr r15 |
| 9527 5404 E794 ror r14 |
| 9528 5406 5A95 dec r21 |
| 9529 5408 E1F7 brne 1b |
| 9530 540a 0091 0000 lds r16,Ki |
| 9531 540e 1091 0000 lds r17,(Ki)+1 |
| 9532 5412 9801 movw r18,r16 |
| 9533 5414 4427 clr r20 |
| 9534 5416 37FD sbrc r19,7 |
| 9535 5418 4095 com r20 |
| 9536 541a 542F mov r21,r20 |
| 9537 541c 8091 0000 lds r24,SummeNick |
| 9538 5420 9091 0000 lds r25,(SummeNick)+1 |
| 9539 5424 A091 0000 lds r26,(SummeNick)+2 |
| 9540 5428 B091 0000 lds r27,(SummeNick)+3 |
| 9541 542c BC01 movw r22,r24 |
| 9542 542e CD01 movw r24,r26 |
| 9543 5430 0E94 0000 call __divmodsi4 |
| 9544 5434 E20E add r14,r18 |
| 9545 5436 F31E adc r15,r19 |
| 9546 5438 9090 0000 lds r9,Parameter_DynamicStability |
| 9547 543c 692D mov r22,r9 |
| 9548 543e 7727 clr r23 |
| 9549 5440 8827 clr r24 |
| 9550 5442 9927 clr r25 |
| 9551 5444 9601 movw r18,r12 |
| 9552 5446 D7FE sbrs r13,7 |
| 9553 5448 04C0 rjmp .L724 |
| 9554 544a 2227 clr r18 |
| 9555 544c 3327 clr r19 |
| 9556 544e 2C19 sub r18,r12 |
| 9557 5450 3D09 sbc r19,r13 |
| 9558 .L724: |
| 9559 5452 37FF sbrs r19,7 |
| 9560 5454 02C0 rjmp .L725 |
| 9561 5456 2F5F subi r18,lo8(-(1)) |
| 9562 5458 3F4F sbci r19,hi8(-(1)) |
| 9563 .L725: |
| 9564 545a 3595 asr r19 |
| 9565 545c 2795 ror r18 |
| 9566 545e 48A1 ldd r20,Y+32 |
| 9567 5460 59A1 ldd r21,Y+33 |
| 9568 5462 240F add r18,r20 |
| 9569 5464 351F adc r19,r21 |
| 9570 5466 4427 clr r20 |
| 9571 5468 37FD sbrc r19,7 |
| 9572 546a 4095 com r20 |
| 9573 546c 542F mov r21,r20 |
| 9574 546e 0E94 0000 call __mulsi3 |
| 9575 5472 97FF sbrs r25,7 |
| 9576 5474 04C0 rjmp .L726 |
| 9577 5476 615C subi r22,lo8(-(63)) |
| 9578 5478 7F4F sbci r23,hi8(-(63)) |
| 9579 547a 8F4F sbci r24,hlo8(-(63)) |
| 9580 547c 9F4F sbci r25,hhi8(-(63)) |
| 9581 .L726: |
| 9582 547e 26E0 ldi r18,6 |
| 9583 5480 9595 1: asr r25 |
| 9584 5482 8795 ror r24 |
| 9585 5484 7795 ror r23 |
| 9586 5486 6795 ror r22 |
| 9587 5488 2A95 dec r18 |
| 9588 548a D1F7 brne 1b |
| 9589 548c 9B01 movw r18,r22 |
| 9590 548e 6E15 cp r22,r14 |
| 9591 5490 7F05 cpc r23,r15 |
| 9592 5492 0CF4 brge .L727 |
| 9593 5494 7B01 movw r14,r22 |
| 9594 .L727: |
| 9595 5496 3095 com r19 |
| 9596 5498 2195 neg r18 |
| 9597 549a 3F4F sbci r19,lo8(-1) |
| 9598 549c E216 cp r14,r18 |
| 9599 549e F306 cpc r15,r19 |
| 9600 54a0 0CF4 brge .L728 |
| 9601 54a2 7901 movw r14,r18 |
| 9602 .L728: |
| 9603 54a4 8091 0000 lds r24,MesswertRoll |
| 9604 54a8 9091 0000 lds r25,(MesswertRoll)+1 |
| 9605 54ac 6091 0000 lds r22,StickRoll |
| 9606 54b0 7091 0000 lds r23,(StickRoll)+1 |
| 9607 54b4 861B sub r24,r22 |
| 9608 54b6 970B sbc r25,r23 |
| 9609 54b8 9093 0000 sts (DiffRoll)+1,r25 |
| 9610 54bc 8093 0000 sts DiffRoll,r24 |
| 9611 54c0 2091 0000 lds r18,SummeRoll |
| 9612 54c4 3091 0000 lds r19,(SummeRoll)+1 |
| 9613 54c8 4091 0000 lds r20,(SummeRoll)+2 |
| 9614 54cc 5091 0000 lds r21,(SummeRoll)+3 |
| 9615 54d0 AA20 tst r10 |
| 9616 54d2 41F0 breq .L729 |
| 9617 54d4 261A sub r2,r22 |
| 9618 54d6 370A sbc r3,r23 |
| 9619 54d8 C101 movw r24,r2 |
| 9620 54da AA27 clr r26 |
| 9621 54dc 97FD sbrc r25,7 |
| 9622 54de A095 com r26 |
| 9623 54e0 BA2F mov r27,r26 |
| 9624 54e2 04C0 rjmp .L799 |
| 9625 .L729: |
| 9626 54e4 AA27 clr r26 |
| 9627 54e6 97FD sbrc r25,7 |
| 9628 54e8 A095 com r26 |
| 9629 54ea BA2F mov r27,r26 |
| 9630 .L799: |
| 9631 54ec 280F add r18,r24 |
| 9632 54ee 391F adc r19,r25 |
| 9633 54f0 4A1F adc r20,r26 |
| 9634 54f2 5B1F adc r21,r27 |
| 9635 54f4 2093 0000 sts SummeRoll,r18 |
| 9636 54f8 3093 0000 sts (SummeRoll)+1,r19 |
| 9637 54fc 4093 0000 sts (SummeRoll)+2,r20 |
| 9638 5500 5093 0000 sts (SummeRoll)+3,r21 |
| 9639 5504 8091 0000 lds r24,SummeRoll |
| 9640 5508 9091 0000 lds r25,(SummeRoll)+1 |
| 9641 550c A091 0000 lds r26,(SummeRoll)+2 |
| 9642 5510 B091 0000 lds r27,(SummeRoll)+3 |
| 9643 5514 8150 subi r24,lo8(64001) |
| 9644 5516 9A4F sbci r25,hi8(64001) |
| 9645 5518 A040 sbci r26,hlo8(64001) |
| 9646 551a B040 sbci r27,hhi8(64001) |
| 9647 551c 64F0 brlt .L731 |
| 9648 551e 80E0 ldi r24,lo8(64000) |
| 9649 5520 9AEF ldi r25,hi8(64000) |
| 9650 5522 A0E0 ldi r26,hlo8(64000) |
| 9651 5524 B0E0 ldi r27,hhi8(64000) |
| 9652 5526 8093 0000 sts SummeRoll,r24 |
| 9653 552a 9093 0000 sts (SummeRoll)+1,r25 |
| 9654 552e A093 0000 sts (SummeRoll)+2,r26 |
| 9655 5532 B093 0000 sts (SummeRoll)+3,r27 |
| 9656 .L731: |
| 9657 5536 8091 0000 lds r24,SummeRoll |
| 9658 553a 9091 0000 lds r25,(SummeRoll)+1 |
| 9659 553e A091 0000 lds r26,(SummeRoll)+2 |
| 9660 5542 B091 0000 lds r27,(SummeRoll)+3 |
| 9661 5546 8050 subi r24,lo8(-64000) |
| 9662 5548 9640 sbci r25,hi8(-64000) |
| 9663 554a AF4F sbci r26,hlo8(-64000) |
| 9664 554c BF4F sbci r27,hhi8(-64000) |
| 9665 554e 64F4 brge .L732 |
| 9666 5550 80E0 ldi r24,lo8(-64000) |
| 9667 5552 96E0 ldi r25,hi8(-64000) |
| 9668 5554 AFEF ldi r26,hlo8(-64000) |
| 9669 5556 BFEF ldi r27,hhi8(-64000) |
| 9670 5558 8093 0000 sts SummeRoll,r24 |
| 9671 555c 9093 0000 sts (SummeRoll)+1,r25 |
| 9672 5560 A093 0000 sts (SummeRoll)+2,r26 |
| 9673 5564 B093 0000 sts (SummeRoll)+3,r27 |
| 9674 .L732: |
| 9675 5568 2B2D mov r18,r11 |
| 9676 556a 3327 clr r19 |
| 9677 556c 8091 0000 lds r24,DiffRoll |
| 9678 5570 9091 0000 lds r25,(DiffRoll)+1 |
| 9679 5574 289F mul r18,r24 |
| 9680 5576 D001 movw r26,r0 |
| 9681 5578 299F mul r18,r25 |
| 9682 557a B00D add r27,r0 |
| 9683 557c 389F mul r19,r24 |
| 9684 557e B00D add r27,r0 |
| 9685 5580 1124 clr r1 |
| 9686 5582 9D01 movw r18,r26 |
| 9687 5584 B7FF sbrs r27,7 |
| 9688 5586 02C0 rjmp .L733 |
| 9689 5588 295F subi r18,lo8(-(7)) |
| 9690 558a 3F4F sbci r19,hi8(-(7)) |
| 9691 .L733: |
| 9692 558c 5901 movw r10,r18 |
| 9693 558e B3E0 ldi r27,3 |
| 9694 5590 B594 1: asr r11 |
| 9695 5592 A794 ror r10 |
| 9696 5594 BA95 dec r27 |
| 9697 5596 E1F7 brne 1b |
| 9698 5598 9801 movw r18,r16 |
| 9699 559a 4427 clr r20 |
| 9700 559c 37FD sbrc r19,7 |
| 9701 559e 4095 com r20 |
| 9702 55a0 542F mov r21,r20 |
| 9703 55a2 8091 0000 lds r24,SummeRoll |
| 9704 55a6 9091 0000 lds r25,(SummeRoll)+1 |
| 9705 55aa A091 0000 lds r26,(SummeRoll)+2 |
| 9706 55ae B091 0000 lds r27,(SummeRoll)+3 |
| 9707 55b2 BC01 movw r22,r24 |
| 9708 55b4 CD01 movw r24,r26 |
| 9709 55b6 0E94 0000 call __divmodsi4 |
| 9710 55ba A20E add r10,r18 |
| 9711 55bc B31E adc r11,r19 |
| 9712 55be 692D mov r22,r9 |
| 9713 55c0 7727 clr r23 |
| 9714 55c2 8827 clr r24 |
| 9715 55c4 9927 clr r25 |
| 9716 55c6 9601 movw r18,r12 |
| 9717 55c8 D7FE sbrs r13,7 |
| 9718 55ca 04C0 rjmp .L734 |
| 9719 55cc 2227 clr r18 |
| 9720 55ce 3327 clr r19 |
| 9721 55d0 2C19 sub r18,r12 |
| 9722 55d2 3D09 sbc r19,r13 |
| 9723 .L734: |
| 9724 55d4 37FF sbrs r19,7 |
| 9725 55d6 02C0 rjmp .L735 |
| 9726 55d8 2F5F subi r18,lo8(-(1)) |
| 9727 55da 3F4F sbci r19,hi8(-(1)) |
| 9728 .L735: |
| 9729 55dc 3595 asr r19 |
| 9730 55de 2795 ror r18 |
| 9731 55e0 E8A1 ldd r30,Y+32 |
| 9732 55e2 F9A1 ldd r31,Y+33 |
| 9733 55e4 2E0F add r18,r30 |
| 9734 55e6 3F1F adc r19,r31 |
| 9735 55e8 4427 clr r20 |
| 9736 55ea 37FD sbrc r19,7 |
| 9737 55ec 4095 com r20 |
| 9738 55ee 542F mov r21,r20 |
| 9739 55f0 0E94 0000 call __mulsi3 |
| 9740 55f4 97FF sbrs r25,7 |
| 9741 55f6 04C0 rjmp .L736 |
| 9742 55f8 615C subi r22,lo8(-(63)) |
| 9743 55fa 7F4F sbci r23,hi8(-(63)) |
| 9744 55fc 8F4F sbci r24,hlo8(-(63)) |
| 9745 55fe 9F4F sbci r25,hhi8(-(63)) |
| 9746 .L736: |
| 9747 5600 F6E0 ldi r31,6 |
| 9748 5602 9595 1: asr r25 |
| 9749 5604 8795 ror r24 |
| 9750 5606 7795 ror r23 |
| 9751 5608 6795 ror r22 |
| 9752 560a FA95 dec r31 |
| 9753 560c D1F7 brne 1b |
| 9754 560e 9B01 movw r18,r22 |
| 9755 5610 6A15 cp r22,r10 |
| 9756 5612 7B05 cpc r23,r11 |
| 9757 5614 0CF4 brge .L737 |
| 9758 5616 5B01 movw r10,r22 |
| 9759 .L737: |
| 9760 5618 3095 com r19 |
| 9761 561a 2195 neg r18 |
| 9762 561c 3F4F sbci r19,lo8(-1) |
| 9763 561e A216 cp r10,r18 |
| 9764 5620 B306 cpc r11,r19 |
| 9765 5622 0CF4 brge .L738 |
| 9766 5624 5901 movw r10,r18 |
| 9767 .L738: |
| 9768 5626 2090 0000 lds r2,Parameter_UserParam7 |
| 9769 562a E0E0 ldi r30,lo8(Motor) |
| 9770 562c 6E2E mov r6,r30 |
| 9771 562e E0E0 ldi r30,hi8(Motor) |
| 9772 5630 7E2E mov r7,r30 |
| 9773 5632 70E0 ldi r23,lo8(Mixer+13) |
| 9774 5634 872E mov r8,r23 |
| 9775 5636 70E0 ldi r23,hi8(Mixer+13) |
| 9776 5638 972E mov r9,r23 |
| 9777 563a 6BE0 ldi r22,lo8(11) |
| 9778 563c 362E mov r3,r22 |
| 9779 563e 50E0 ldi r21,lo8(tmp_motorwert) |
| 9780 5640 452E mov r4,r21 |
| 9781 5642 50E0 ldi r21,hi8(tmp_motorwert) |
| 9782 5644 552E mov r5,r21 |
| 9783 .L772: |
| 9784 5646 D401 movw r26,r8 |
| 9785 5648 2C91 ld r18,X |
| 9786 564a 1216 cp __zero_reg__,r18 |
| 9787 564c 0CF0 brlt .+2 |
| 9788 564e ECC0 rjmp .L742 |
| 9789 5650 2034 cpi r18,lo8(64) |
| 9790 5652 19F4 brne .L743 |
| 9791 5654 08A1 ldd r16,Y+32 |
| 9792 5656 19A1 ldd r17,Y+33 |
| 9793 5658 1EC0 rjmp .L744 |
| 9794 .L743: |
| 9795 565a E8A1 ldd r30,Y+32 |
| 9796 565c F9A1 ldd r31,Y+33 |
| 9797 565e CF01 movw r24,r30 |
| 9798 5660 AA27 clr r26 |
| 9799 5662 97FD sbrc r25,7 |
| 9800 5664 A095 com r26 |
| 9801 5666 BA2F mov r27,r26 |
| 9802 5668 3327 clr r19 |
| 9803 566a 27FD sbrc r18,7 |
| 9804 566c 3095 com r19 |
| 9805 566e 432F mov r20,r19 |
| 9806 5670 532F mov r21,r19 |
| 9807 5672 BC01 movw r22,r24 |
| 9808 5674 CD01 movw r24,r26 |
| 9809 5676 0E94 0000 call __mulsi3 |
| 9810 567a 97FF sbrs r25,7 |
| 9811 567c 04C0 rjmp .L745 |
| 9812 567e 615C subi r22,lo8(-(63)) |
| 9813 5680 7F4F sbci r23,hi8(-(63)) |
| 9814 5682 8F4F sbci r24,hlo8(-(63)) |
| 9815 5684 9F4F sbci r25,hhi8(-(63)) |
| 9816 .L745: |
| 9817 5686 46E0 ldi r20,6 |
| 9818 5688 9595 1: asr r25 |
| 9819 568a 8795 ror r24 |
| 9820 568c 7795 ror r23 |
| 9821 568e 6795 ror r22 |
| 9822 5690 4A95 dec r20 |
| 9823 5692 D1F7 brne 1b |
| 9824 5694 8B01 movw r16,r22 |
| 9825 .L744: |
| 9826 5696 F401 movw r30,r8 |
| 9827 5698 2181 ldd r18,Z+1 |
| 9828 569a 2034 cpi r18,lo8(64) |
| 9829 569c 19F4 brne .L746 |
| 9830 569e 0E0D add r16,r14 |
| 9831 56a0 1F1D adc r17,r15 |
| 9832 56a2 22C0 rjmp .L747 |
| 9833 .L746: |
| 9834 56a4 203C cpi r18,lo8(-64) |
| 9835 56a6 19F4 brne .L748 |
| 9836 56a8 0E19 sub r16,r14 |
| 9837 56aa 1F09 sbc r17,r15 |
| 9838 56ac 1DC0 rjmp .L747 |
| 9839 .L748: |
| 9840 56ae C701 movw r24,r14 |
| 9841 56b0 AA27 clr r26 |
| 9842 56b2 97FD sbrc r25,7 |
| 9843 56b4 A095 com r26 |
| 9844 56b6 BA2F mov r27,r26 |
| 9845 56b8 3327 clr r19 |
| 9846 56ba 27FD sbrc r18,7 |
| 9847 56bc 3095 com r19 |
| 9848 56be 432F mov r20,r19 |
| 9849 56c0 532F mov r21,r19 |
| 9850 56c2 BC01 movw r22,r24 |
| 9851 56c4 CD01 movw r24,r26 |
| 9852 56c6 0E94 0000 call __mulsi3 |
| 9853 56ca 97FF sbrs r25,7 |
| 9854 56cc 04C0 rjmp .L750 |
| 9855 56ce 615C subi r22,lo8(-(63)) |
| 9856 56d0 7F4F sbci r23,hi8(-(63)) |
| 9857 56d2 8F4F sbci r24,hlo8(-(63)) |
| 9858 56d4 9F4F sbci r25,hhi8(-(63)) |
| 9859 .L750: |
| 9860 56d6 36E0 ldi r19,6 |
| 9861 56d8 9595 1: asr r25 |
| 9862 56da 8795 ror r24 |
| 9863 56dc 7795 ror r23 |
| 9864 56de 6795 ror r22 |
| 9865 56e0 3A95 dec r19 |
| 9866 56e2 D1F7 brne 1b |
| 9867 56e4 060F add r16,r22 |
| 9868 56e6 171F adc r17,r23 |
| 9869 .L747: |
| 9870 56e8 F401 movw r30,r8 |
| 9871 56ea 2281 ldd r18,Z+2 |
| 9872 56ec 2034 cpi r18,lo8(64) |
| 9873 56ee 19F4 brne .L751 |
| 9874 56f0 0A0D add r16,r10 |
| 9875 56f2 1B1D adc r17,r11 |
| 9876 56f4 22C0 rjmp .L752 |
| 9877 .L751: |
| 9878 56f6 203C cpi r18,lo8(-64) |
| 9879 56f8 19F4 brne .L753 |
| 9880 56fa 0A19 sub r16,r10 |
| 9881 56fc 1B09 sbc r17,r11 |
| 9882 56fe 1DC0 rjmp .L752 |
| 9883 .L753: |
| 9884 5700 C501 movw r24,r10 |
| 9885 5702 AA27 clr r26 |
| 9886 5704 97FD sbrc r25,7 |
| 9887 5706 A095 com r26 |
| 9888 5708 BA2F mov r27,r26 |
| 9889 570a 3327 clr r19 |
| 9890 570c 27FD sbrc r18,7 |
| 9891 570e 3095 com r19 |
| 9892 5710 432F mov r20,r19 |
| 9893 5712 532F mov r21,r19 |
| 9894 5714 BC01 movw r22,r24 |
| 9895 5716 CD01 movw r24,r26 |
| 9896 5718 0E94 0000 call __mulsi3 |
| 9897 571c 97FF sbrs r25,7 |
| 9898 571e 04C0 rjmp .L755 |
| 9899 5720 615C subi r22,lo8(-(63)) |
| 9900 5722 7F4F sbci r23,hi8(-(63)) |
| 9901 5724 8F4F sbci r24,hlo8(-(63)) |
| 9902 5726 9F4F sbci r25,hhi8(-(63)) |
| 9903 .L755: |
| 9904 5728 26E0 ldi r18,6 |
| 9905 572a 9595 1: asr r25 |
| 9906 572c 8795 ror r24 |
| 9907 572e 7795 ror r23 |
| 9908 5730 6795 ror r22 |
| 9909 5732 2A95 dec r18 |
| 9910 5734 D1F7 brne 1b |
| 9911 5736 060F add r16,r22 |
| 9912 5738 171F adc r17,r23 |
| 9913 .L752: |
| 9914 573a F401 movw r30,r8 |
| 9915 573c 2381 ldd r18,Z+3 |
| 9916 573e 2034 cpi r18,lo8(64) |
| 9917 5740 19F4 brne .L756 |
| 9918 5742 0C0D add r16,r12 |
| 9919 5744 1D1D adc r17,r13 |
| 9920 5746 22C0 rjmp .L757 |
| 9921 .L756: |
| 9922 5748 203C cpi r18,lo8(-64) |
| 9923 574a 19F4 brne .L758 |
| 9924 574c 0C19 sub r16,r12 |
| 9925 574e 1D09 sbc r17,r13 |
| 9926 5750 1DC0 rjmp .L757 |
| 9927 .L758: |
| 9928 5752 C601 movw r24,r12 |
| 9929 5754 AA27 clr r26 |
| 9930 5756 97FD sbrc r25,7 |
| 9931 5758 A095 com r26 |
| 9932 575a BA2F mov r27,r26 |
| 9933 575c 3327 clr r19 |
| 9934 575e 27FD sbrc r18,7 |
| 9935 5760 3095 com r19 |
| 9936 5762 432F mov r20,r19 |
| 9937 5764 532F mov r21,r19 |
| 9938 5766 BC01 movw r22,r24 |
| 9939 5768 CD01 movw r24,r26 |
| 9940 576a 0E94 0000 call __mulsi3 |
| 9941 576e 97FF sbrs r25,7 |
| 9942 5770 04C0 rjmp .L760 |
| 9943 5772 615C subi r22,lo8(-(63)) |
| 9944 5774 7F4F sbci r23,hi8(-(63)) |
| 9945 5776 8F4F sbci r24,hlo8(-(63)) |
| 9946 5778 9F4F sbci r25,hhi8(-(63)) |
| 9947 .L760: |
| 9948 577a B6E0 ldi r27,6 |
| 9949 577c 9595 1: asr r25 |
| 9950 577e 8795 ror r24 |
| 9951 5780 7795 ror r23 |
| 9952 5782 6795 ror r22 |
| 9953 5784 BA95 dec r27 |
| 9954 5786 D1F7 brne 1b |
| 9955 5788 060F add r16,r22 |
| 9956 578a 171F adc r17,r23 |
| 9957 .L757: |
| 9958 578c D201 movw r26,r4 |
| 9959 578e 8D91 ld r24,X+ |
| 9960 5790 9C91 ld r25,X |
| 9961 5792 8017 cp r24,r16 |
| 9962 5794 9107 cpc r25,r17 |
| 9963 5796 5CF4 brge .L761 |
| 9964 5798 BC01 movw r22,r24 |
| 9965 579a 600F add r22,r16 |
| 9966 579c 711F adc r23,r17 |
| 9967 579e 77FF sbrs r23,7 |
| 9968 57a0 02C0 rjmp .L762 |
| 9969 57a2 6F5F subi r22,lo8(-(1)) |
| 9970 57a4 7F4F sbci r23,hi8(-(1)) |
| 9971 .L762: |
| 9972 57a6 8B01 movw r16,r22 |
| 9973 57a8 1595 asr r17 |
| 9974 57aa 0795 ror r16 |
| 9975 57ac 11C0 rjmp .L763 |
| 9976 .L761: |
| 9977 57ae B1E0 ldi r27,lo8(1) |
| 9978 57b0 B215 cp r27,r2 |
| 9979 57b2 28F0 brlo .L764 |
| 9980 57b4 000F add r16,r16 |
| 9981 57b6 111F adc r17,r17 |
| 9982 57b8 081B sub r16,r24 |
| 9983 57ba 190B sbc r17,r25 |
| 9984 57bc 09C0 rjmp .L763 |
| 9985 .L764: |
| 9986 57be 222D mov r18,r2 |
| 9987 57c0 3327 clr r19 |
| 9988 57c2 801B sub r24,r16 |
| 9989 57c4 910B sbc r25,r17 |
| 9990 57c6 B901 movw r22,r18 |
| 9991 57c8 0E94 0000 call __divmodhi4 |
| 9992 57cc 060F add r16,r22 |
| 9993 57ce 171F adc r17,r23 |
| 9994 .L763: |
| 9995 57d0 E8A9 ldd r30,Y+48 |
| 9996 57d2 8E2F mov r24,r30 |
| 9997 57d4 9927 clr r25 |
| 9998 57d6 880F lsl r24 |
| 9999 57d8 991F rol r25 |
| 10000 57da 880F lsl r24 |
| 10001 57dc 991F rol r25 |
| 10002 57de 8017 cp r24,r16 |
| 10003 57e0 9107 cpc r25,r17 |
| 10004 57e2 54F4 brge .L800 |
| 10005 57e4 F9A9 ldd r31,Y+49 |
| 10006 57e6 8F2F mov r24,r31 |
| 10007 57e8 9927 clr r25 |
| 10008 57ea 880F lsl r24 |
| 10009 57ec 991F rol r25 |
| 10010 57ee 880F lsl r24 |
| 10011 57f0 991F rol r25 |
| 10012 57f2 0817 cp r16,r24 |
| 10013 57f4 1907 cpc r17,r25 |
| 10014 57f6 0CF0 brlt .L767 |
| 10015 .L800: |
| 10016 57f8 8C01 movw r16,r24 |
| 10017 .L767: |
| 10018 57fa C801 movw r24,r16 |
| 10019 57fc 17FD sbrc r17,7 |
| 10020 57fe 0396 adiw r24,3 |
| 10021 .L769: |
| 10022 5800 9595 asr r25 |
| 10023 5802 8795 ror r24 |
| 10024 5804 9595 asr r25 |
| 10025 5806 8795 ror r24 |
| 10026 5808 F301 movw r30,r6 |
| 10027 580a 8183 std Z+1,r24 |
| 10028 580c 880F lsl r24 |
| 10029 580e 991F rol r25 |
| 10030 5810 880F lsl r24 |
| 10031 5812 991F rol r25 |
| 10032 5814 9801 movw r18,r16 |
| 10033 5816 281B sub r18,r24 |
| 10034 5818 390B sbc r19,r25 |
| 10035 581a C901 movw r24,r18 |
| 10036 581c 880F lsl r24 |
| 10037 581e 8283 std Z+2,r24 |
| 10038 5820 D201 movw r26,r4 |
| 10039 5822 0D93 st X+,r16 |
| 10040 5824 1C93 st X,r17 |
| 10041 5826 03C0 rjmp .L741 |
| 10042 .L742: |
| 10043 5828 F301 movw r30,r6 |
| 10044 582a 1182 std Z+1,__zero_reg__ |
| 10045 582c 1282 std Z+2,__zero_reg__ |
| 10046 .L741: |
| 10047 582e 3A94 dec r3 |
| 10048 5830 02E0 ldi r16,lo8(2) |
| 10049 5832 10E0 ldi r17,hi8(2) |
| 10050 5834 400E add r4,r16 |
| 10051 5836 511E adc r5,r17 |
| 10052 5838 24E0 ldi r18,lo8(4) |
| 10053 583a 30E0 ldi r19,hi8(4) |
| 10054 583c 820E add r8,r18 |
| 10055 583e 931E adc r9,r19 |
| 10056 5840 48E0 ldi r20,lo8(8) |
| 10057 5842 50E0 ldi r21,hi8(8) |
| 10058 5844 640E add r6,r20 |
| 10059 5846 751E adc r7,r21 |
| 10060 5848 37FE sbrs r3,7 |
| 10061 584a FDCE rjmp .L772 |
| 10062 /* epilogue: frame size=53 */ |
| 10063 584c E2E1 ldi r30,18 |
| 10064 584e CB5C subi r28,-53 |
| 10065 5850 0C94 0000 jmp __epilogue_restores__+0 |
| 10066 /* epilogue end (size=4) */ |
| 10067 /* function MotorRegler size 7558 (7548) */ |
| 10069 .comm TrimNick,2,1 |
| 10070 .comm TrimRoll,2,1 |
| 10071 .comm ErsatzKompass,4,1 |
| 10072 .comm ErsatzKompassInGrad,2,1 |
| 10073 .comm MesswertNick,2,1 |
| 10074 .comm MesswertRoll,2,1 |
| 10075 .comm MesswertGier,2,1 |
| 10076 .comm Mittelwert_AccNick,2,1 |
| 10077 .comm Mittelwert_AccRoll,2,1 |
| 10078 .comm NaviAccNick,2,1 |
| 10079 .comm NaviAccRoll,2,1 |
| 10080 .comm h,1,1 |
| 10081 .comm m,1,1 |
| 10082 .comm s,1,1 |
| 10083 .comm DiffNick,2,1 |
| 10084 .comm DiffRoll,2,1 |
| 10085 .comm Parameter_Servo3,1,1 |
| 10086 .comm Parameter_Servo4,1,1 |
| 10087 .comm Parameter_Servo5,1,1 |
| 10088 .comm Parameter_J16Bitmask,1,1 |
| 10089 .comm Parameter_J16Timing,1,1 |
| 10090 .comm Parameter_J17Bitmask,1,1 |
| 10091 .comm Parameter_J17Timing,1,1 |
| 10092 .comm MesswertGierBias,2,1 |
| 10093 .comm RohMesswertNick,2,1 |
| 10094 .comm RohMesswertRoll,2,1 |
| 10095 .comm MittelIntegralNick,4,1 |
| 10096 .comm MittelIntegralRoll,4,1 |
| 10097 .comm MittelIntegralNick2,4,1 |
| 10098 .comm MittelIntegralRoll2,4,1 |
| 10099 .comm MAX_GAS,1,1 |
| 10100 .comm MIN_GAS,1,1 |
| 10101 .comm GyroFaktor,1,1 |
| 10102 .comm GyroFaktorGier,1,1 |
| 10103 .comm IntegralFaktor,1,1 |
| 10104 .comm IntegralFaktorGier,1,1 |
| 10105 .comm Parameter_NaviGpsModeControl,1,1 |
| 10106 .comm Parameter_NaviGpsGain,1,1 |
| 10107 .comm Parameter_NaviGpsP,1,1 |
| 10108 .comm Parameter_NaviGpsI,1,1 |
| 10109 .comm Parameter_NaviGpsD,1,1 |
| 10110 .comm Parameter_NaviGpsACC,1,1 |
| 10111 .comm Parameter_NaviOperatingRadius,1,1 |
| 10112 .comm Parameter_NaviWindCorrection,1,1 |
| 10113 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10114 .comm Parameter_ExternalControl,1,1 |
| 10115 .comm KopplungsteilNickRoll,2,1 |
| 10116 .comm KopplungsteilRollNick,2,1 |
| 10117 .comm tmp_motorwert,24,1 |
| 10118 /* File "fc.c": code 11450 = 0x2cba (11397), prologues 27, epilogues 26 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:14 .data:00000000 VarioCharacter |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:19 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:26 .bss:00000000 FCFlags |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:32 .bss:00000001 modell_fliegt |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:38 .bss:00000003 MaxStickRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:44 .bss:00000005 MaxStickNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:50 .data:00000005 ExternHoehenValue |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:57 .bss:00000007 ExternStickGier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:63 .bss:00000009 ExternStickRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:69 .bss:0000000b ExternStickNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:75 .bss:0000000d CareFree |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:81 .data:00000007 Parameter_DynamicStability |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:86 .data:00000008 Parameter_CouplingYawCorrection |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:91 .data:00000009 Parameter_AchsKopplung2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:96 .data:0000000a Parameter_AchsKopplung1 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:101 .data:0000000b Parameter_LoopGasLimit |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:106 .data:0000000c Parameter_ServoRollControl |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:111 .data:0000000d Parameter_ServoNickControl |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:118 .bss:0000000e Parameter_UserParam8 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:124 .bss:0000000f Parameter_UserParam7 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:130 .bss:00000010 Parameter_UserParam6 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:136 .bss:00000011 Parameter_UserParam5 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:142 .bss:00000012 Parameter_UserParam4 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:148 .bss:00000013 Parameter_UserParam3 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:154 .bss:00000014 Parameter_UserParam2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:160 .bss:00000015 Parameter_UserParam1 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:166 .data:0000000e Parameter_I_Faktor |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:171 .data:0000000f Parameter_Gier_P |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:176 .data:00000010 Parameter_Gyro_Gier_I |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:181 .data:00000011 Parameter_Gyro_Gier_P |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:186 .data:00000012 Parameter_Gyro_I |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:191 .data:00000013 Parameter_Gyro_P |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:196 .data:00000014 Parameter_Gyro_D |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:201 .data:00000015 Parameter_Hoehe_GPS_Z |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:206 .data:00000016 Parameter_KompassWirkung |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:211 .data:00000017 Parameter_Hoehe_ACC_Wirkung |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:216 .data:00000018 Parameter_Hoehe_P |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:221 .data:00000019 Parameter_MaxHoehe |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:226 .data:0000001a Parameter_Luftdruck_D |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:233 .bss:00000016 Looping_Oben |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:239 .bss:00000017 Looping_Unten |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:245 .bss:00000018 Looping_Rechts |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:251 .bss:00000019 Looping_Links |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:257 .bss:0000001a Looping_Roll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:263 .bss:0000001b Looping_Nick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:269 .data:0000001b Ki |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:276 .bss:0000001c HoverGas |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:282 .bss:0000001e LageKorrekturNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:288 .bss:00000020 LageKorrekturRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:294 .bss:00000022 SollHoehe |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:300 .bss:00000026 HoehenWert |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:306 .bss:0000002a StartTrigger |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:312 .bss:0000002b MotorenEin |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:318 .bss:0000002c StickGas |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:324 .bss:0000002e StickGier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:330 .bss:00000030 StickRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:336 .bss:00000032 StickNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:342 .bss:00000034 SenderOkay |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:348 .bss:00000035 Poti |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:354 .bss:0000003e GierGyroFehler |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:360 .data:0000001d Umschlag180Roll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:365 .data:00000021 Umschlag180Nick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:372 .bss:00000040 TrichterFlug |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:378 .bss:00000041 HoehenReglerAktiv |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:384 .data:00000025 KompassSignalSchlecht |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:391 .bss:00000042 KompassRichtung |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:397 .bss:00000044 KompassStartwert |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:403 .bss:00000046 KompassValue |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:409 .bss:00000048 Mess_Integral_Hoch |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:415 .bss:0000004c SummeRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:421 .bss:00000050 SummeNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:427 .bss:00000054 Mess_Integral_Gier2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:433 .bss:00000058 Mess_Integral_Gier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:439 .bss:0000005c Mess_IntegralRoll2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:445 .bss:00000060 Mess_IntegralRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:451 .bss:00000064 Mess_IntegralNick2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:457 .bss:00000068 Mess_IntegralNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:463 .bss:0000006c Integral_Gier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:469 .bss:00000070 IntegralAccZ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:475 .bss:00000074 IntegralAccRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:481 .bss:00000078 IntegralAccNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:487 .bss:0000007c IntegralRoll2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:493 .bss:00000080 IntegralRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:499 .bss:00000084 IntegralNick2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:505 .bss:00000088 IntegralNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:511 .bss:0000008c ControlHeading |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:517 .bss:0000008d NeutralAccZ |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:523 .bss:0000008f NaviCntAcc |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:529 .bss:00000091 NeutralAccY |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:535 .bss:00000093 NeutralAccX |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:541 .bss:00000095 StartNeutralNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:547 .bss:00000097 StartNeutralRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:553 .bss:00000099 AdNeutralGier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:559 .bss:0000009b AdNeutralRoll |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:565 .bss:0000009d AdNeutralNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:571 .bss:0000009f BaroExpandActive |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:576 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000004 ErsatzKompass |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:754 .text:00000214 Piep |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:793 .text:00000256 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:935 .progmem.data:00000000 __c.40 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:940 .text:00000398 SetNeutral |
| .bss:000000a1 tmpl.32 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1441 .bss:000000a5 tmpl2.33 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1442 .bss:000000a9 tmpl3.34 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1443 .bss:000000ad tmpl4.35 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1444 .bss:000000b1 oldNick.36 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1445 .bss:000000b3 oldRoll.37 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1446 .bss:000000b5 d2Roll.38 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1447 .bss:000000b7 d2Nick.39 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1451 .text:000008f4 Mittelwert |
| *COM*:00000002 RohMesswertNick |
| *COM*:00000002 RohMesswertRoll |
| *COM*:00000002 NaviAccNick |
| *COM*:00000002 NaviAccRoll |
| *COM*:00000002 KopplungsteilNickRoll |
| *COM*:00000002 KopplungsteilRollNick |
| *COM*:00000002 TrimRoll |
| *COM*:00000002 TrimNick |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3093 .text:000018e4 SendMotorData |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3146 .text:00001950 ParameterZuordnung |
| *COM*:00000001 Parameter_J16Timing |
| *COM*:00000001 Parameter_J17Timing |
| *COM*:00000001 Parameter_Servo3 |
| *COM*:00000001 Parameter_Servo4 |
| *COM*:00000001 Parameter_Servo5 |
| *COM*:00000001 Parameter_ExternalControl |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1448 .bss:000000b9 sollGier.0 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3703 .bss:000000bd tmp_long.1 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3704 .bss:000000c1 tmp_long2.2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3705 .bss:000000c5 IntegralFehlerNick.3 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3706 .bss:000000c9 IntegralFehlerRoll.4 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3707 .bss:000000cd RcLostTimer.5 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3708 .bss:000000cf delay_neutral.6 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3709 .bss:000000d0 delay_einschalten.7 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3710 .bss:000000d1 delay_ausschalten.8 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3711 .bss:000000d2 calibration_done.9 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3712 .bss:000000d3 NeueKompassRichtungMerken.10 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3713 .bss:000000d4 ausgleichNick.11 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3714 .bss:000000d8 ausgleichRoll.12 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3715 .bss:000000dc stick_nick.13 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3716 .bss:000000de stick_roll.14 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3717 .bss:000000e0 cnt.15 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3718 .bss:000000e2 last_n_p.16 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3719 .bss:000000e3 last_n_n.17 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3720 .bss:000000e4 last_r_p.18 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3721 .bss:000000e5 last_r_n.19 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3722 .bss:000000e6 MittelIntegralNick_Alt.20 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3723 .bss:000000ea MittelIntegralRoll_Alt.21 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3724 .bss:000000ee HeightTrimming.22 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3725 .bss:000000f0 FilterHCGas.23 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3730 .data:00000027 StickGasHover.24 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3726 .bss:000000f2 HoverGasMin.25 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3735 .data:00000029 HoverGasMax.26 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3732 .bss:000000f4 HoverGasFilter.27 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3740 .data:0000002b delay.28 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3737 .bss:000000f8 BaroAtUpperLimit.29 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3742 .bss:000000f9 BaroAtLowerLimit.30 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3743 .bss:000000fa HeightTrimmingFlag.31 |
| C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3780 .text:00001e0c MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000002 ErsatzKompassInGrad |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| AdWertGier |
| AdWertAccHoch |
| UBat |
| Motor |
| ServoNickValue |
| Capacity |
| GPS_Nick |
| GPS_Roll |
| VersionInfo |
| beeptime |
| Delay_ms |
| PlatinenVersion |
| SucheGyroOffset |
| AdWertNick |
| AdWertRoll |
| AdWertAccNick |
| AdWertAccRoll |
| PPM_in |
| __mulsi3 |
| __prologue_saves__ |
| ExpandBaro |
| Delay_ms_Mess |
| MessLuftdruck |
| SucheLuftruckOffset |
| __divmodhi4 |
| Aktuell_az |
| SetParamWord |
| GetParamWord |
| uart_putchar |
| _printf_P |
| Luftdruck |
| StartLuftdruck |
| VarioMeter |
| GPS_Neutral |
| SendVersionToNavi |
| LED_Init |
| FromNaviCtrl_Value |
| ServoActive |
| __epilogue_restores__ |
| AdWertNickFilter |
| AdWertRollFilter |
| AdReady |
| HiResNick |
| HiResRoll |
| MotorTest |
| PC_MotortestActive |
| motor_write |
| twi_state |
| BLFlags |
| FromNaviCtrl |
| BeepMuster |
| PPM_diff |
| SetActiveParamSet |
| WinkelOut |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| LipoDetection |
| LIBFC_ReceiverInit |
| NewPpmData |
| FromNC_Rotate_C |
| FromNC_Rotate_S |
| GPS_Nick2 |
| GPS_Roll2 |
| __floatsisf |
| __addsf3 |
| __fixunssfsi |
| ExternControl |
| ZaehlMessungen |
| BattLowVoltageWarning |
| __udivmodhi4 |
| DruckOffsetSetting |
| SummenHoehe |
| ihypot |
| c_cos_8192 |
| MissingMotor |
| Mixer |